Raul Midon burst onto the scene with 2005’s State of Mind, displaying a soulful voice, thoughtful songs, and a percussive brand of acoustic guitar playing. Now several albums in, he now returns with Don’t Hesitate. Here he does most of the recording in his home studio with a few special guests: bassists Richard Bona (“If You Want Me To”) and Marcus Miller (“Mi Amigo Cubano”) and singers Lizz Wright (“Keep Holding On”) and Dianne Reeves (“Make It Better”). The big news, however, is that the outstanding “Mi Amigo Cubano” is a songwriting collaboration with the mostly retired Bill Withers. Midon himself is in fine form throughout.