Speaking of Joe, his brother, tenor saxophonist Leon Henderson, recorded with the MC5 on High Time, as did trumpeter Charles Moore.
For what it's worth I don't think of Ballads (or Standards, the posthumously released follow-up) as out-of-character for Bailey. He played many, many ballads over his long career and certainly knew his way around a melody inside and out. Stranger are the discs with Ruins or with Jamaladeen Tacuma and Calvin Weston!