Other "Acid Jazz" bands would be similar enough... Galliano, Corduroy,
James Taylor Quartet, Digable Planets... full list is here:
http://en.wikipedia.org/wiki/Acid_jazz#Key_artists
I know you said "modern bands", but Herbie Hancock was a huge influence
on early Jamiroquai, and his Headhunters album is a good place to
start. There are moments there which really sound like
"Emergency..."-era Jamiroquai.
Just no one mention Maroon 5!