When improvising over a progression like this, you need to change scales when the chords change. Since all chords are of the same type, you can use the same scale (with a different root, obviously) over each chord. The appropriate chord scale is mixolydian, but especially in Lukather's solo I can also hear dorian over the first chord Gmaj7/A.
Pentatonic scales sound especially good over such a progression. You could try E minor pentatonic over G/A, G minor pentatonic over Eb/F, and A minor pentatonic over C/D. So, just as an idea, you could play a melody in E minor pentatonic, shift it up by a minor third (G min. pent.), then shift it up another whole tone to A minor pentatonic. This will get you safely over the progression. Minor 7 Arpeggios will also work well. E.g., try Bm7 over G/A, Cm7 over Eb/F, and Am7 (or Em7) over C/D.
You see there are many possibilities that you can play around with. Note that the same type of chord is used in the progression of Herbie Hancock's tune Maiden Voyage. Also listen to the solos on that song and learn from them. I've written a blog post about improvising over suspended chords, using Maiden Voyage as an example. Also check out Toto's version of it called Butterfly with Steve Lukather's solo on it.