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Lionel Richie dishes on an unusual nickname for his pal and collaborator Michael Jackson

In his candid new memoir, Truly , he shares memories from his storied life and career

Truly is available now, wherever books are sold

Lionel Richie is truly an open book.

The Grammy winner and American Idol judge , 76, has released his new memoir Truly , out Sept. 30, and in it, he's sharing fascinating never-before-told stories. "To be honest with you, I don’t know how I remembered a lot of stuff," the star told PEOPLE exclusively of his writing process.

One memory that stood out was the bond he had with close friend Michael Jackson at the peak of his fame. In Truly , he describes how he and the King of Pop were deeply bonded over music, but differed greatly when

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