 The Gaye recording has become an acclaimed soul classic . In 2004 , it was placed at number 80 on Rolling Stone 's list of The 500 Greatest Songs of All Time , with the comment that Whitfield had produced the song with a number of artists using different arrangements , and that on the Marvin Gaye recording he had a " golden idea " when he set the song " in a slower , more mysterious tempo " . In a new Rolling Stone list published in 2011 , the single was placed slightly lower at 81 . 
