Complex sentence: Lauper seldom performed this in concert, although live clips are found online, but did recently during her Body Acoustic Tour in 2006 and frequently opened the True Colors 2007 Tour with it.
Split into simpler sentences: Lauper seldom performed this in concert, although live clips are found online. However, it wasn't until the 2006 Body Acoustic Tour that she played the song regularly in full again, and she frequently opened the True Colors 2007 Tour with it.