Rad!

Original Air Date: 10/10/18 on ABC.  Season 6, episode 3.
Starring: Wendi McLendon-Covey, Troy Gentile, Hayley Orrantia, Sean Giambrone, Jeff Garlin, George Seagal
Guest Stars: Rick Springfield, Tim Meadows, Jennifer Irwin, Mindy Sterling, Stephanie Courtney
Director: Lew Schneider
Rick's Character Name:  Gary Globberman
Synopsis: Erica's dreams come true when she lands a job at the new karaoke bar in town; Erica turns to Beverly for help bringing in more customers; Murray tries to teach Barry and Lainey how to be financially responsible adults.

According to US

This was a good role for Rick - he didn't play himself or a musician, but it's an 80's show and he was big in the 80's, so it was a good fit.
He probably should have gotten an emmy for singing Jessie's Girl badly, doing Karaoke.  Best line in the show when Tim Meadow's character says: "it really is a great song" and Rick's character Gary says :"Yea, It really is"

Erika gets a job at a Karaoke bar, dreaming of stardom, but she doesn't want her mom to come and embarrass her.  But then Gary tells her she gets extra songs on Karaoke for every table she brings in, so she gets her Mom and her friends to come.  Even though Bev tries not to ruin it for her, it still ends up going awry, so Bev decides not to hold back.  When Erica expresses her embarassment of her mother, Gary tells her that will change when she grows up, so she must not be there yet.  Erica realizes her mistake and her and Bev perform Karaoke together, and they perform Jessie's Girl, of course.