I don't know if you're specifically looking for something older, but have you ever listened to the Mars Volta? They are a lot newer than yes, but they have a lot of the same energy as that song. The whole album Deloused in the Comatorium is fantastic, and it has all the same frenetic energy, with jazzy or more melodic parts sprinkled throughout. They also have a varied and robust discography. I'd definitely give them a listen if you haven't.