His brilliant dancing and magnetic presence wowed Broadway in “Ain’t Too Proud”; landed him the lead (which he eventually relinquished) of “MJ: The Musical”; and will be on display in the title role of Tony Goldwyn and Savion Glover’s reimagined “Pal Joey” at New York City Center this month. But ask Ephraim Sykes for his story and he starts with, “My mother and father fell in love…”