The song was written in 1969 by Barrett Strong and Norman Whitfield, but released in 1971 by the Temptations. Totally apart from the bass, there is something about the failure of innocence that makes this song more than just a “dream” thing.
The Rolling Stones had their own version in 1977. The predictable thing is that this hits you more in the gut than in the heart. But the Stones are the Stones.