Any recommendations on how to start playing neosoul?

Sorry if this is the wrong place to ask.

During the pandemic I started jammin’ with some folks that are on another level compared to me, and now we meet maybe twice a week. Think BADBADNOTGOOD, that kinda vibe. I play the keyboard, self taught, and prior to playing with these guys I’ve always been playing in a rock/pop idiom and I’ve been “getting away” with either just memorising the chord vamps or improvising solos in basic pentatonic scales as per blues/rock tradition. I’ve gotten a lot of mileage out of my mediocre keyboard playing, been lucky enough to go on some tours etc, but with my new gang that’s just not enough to stay on top of what’s happening, with modal interchange and whatnot, and I don’t want to hold them back. Hell, I love that they’re forcing me to grow and adapt as a musician!

Don’t get me wrong, I’m not a stranger to listening to jazz, (especially Thelonius Monk, Dizzy Gillespie, Miles, Jamal, Mingus, Coltrane, etc), but I’ve never played any of that stuff. Right now I try to record every jam session, then I’ll go home and mimetically try to replicate what’s happening and practice that so that I can show up to next rehearsal being prepared, I’m learning a lot each time but I still feel like I’m missing the legs to stand on. I don’t want to be stuck in some four chord vamp every jam session but I’m already playing at the top of my current abilities many times trying to just hold the pocket.

How do I take my first baby steps in the direction of becoming D’angelo, Robert Glaspier or Cory Henry?

I am very much aware that this is a “skill issue” and I need to “git guud”, I am simply asking if anyone would like to suggest a pedagogical starting point they themselves found useful for heading in this direction. What specific exercise should I practice now? What’s the best resources?

TLDR: How to play neosoul/jazz keyboard for a basic newbie?

Edit: Thank you for a lot of great suggestions. I’m not looking for any shortcuts or quick fixes. Just a starting point, as it’s a pretty daunting task to take on all of jazz at once when you come from a garage rock background. To mention specifically Robert Glaspier and Cory Henry was a bit tongue in cheek on my part, as they’re the best in my book. I’m not expecting to ever be as good. I’m sorry if that didn’t come across in text.