The Temptations were inducted into the Vocal Group Hall of Fame in 1999. In 2001, their 2000 album Ear-Resistible won the group its third Grammy, this one for Best Traditional R&B Vocal Performance. Bo Henderson was fired from the group in 2003, prompting a wrongful termination lawsuit.
His replacement was former Spinners lead G. C. Cameron. The lineup of Cameron, Otis Williams, Ron Tyson, Harry McGilberry, and Terry Weeks recorded for a short time before McGilberry was dismissed; his replacement was former Spaniels member Joe Herndon. McGilberry died on April 3, 2006, at the age of 56.
The group's final Motown album, Legacy, was released in 2004. Later that year, the Temptations asked to be released from their Motown contract, and moved to another Universal label, New Door Records. Their sole album with this lineup, Reflections, was released on January 31, 2006, and contains covers of several popular Motown songs, including Diana Ross & the Supremes' "Reflections", the Miracles' "Ooo Baby Baby", Marvin Gaye and Tammi Terrell's "Ain't Nothing Like the Real Thing", and the Jackson 5's "I'll Be There."