I've seen him only once on Broadway -- in Chitty Chitty Bang Bang
A number of clips on YTube with him singing and dancing.
If ever Hugh needs a replacement after his stint, if ever THE GREATEST SHOWMAN gets to Broadway in the near future, maybe Raul can be a good Barnum, too? He did dance in Chitty, but that was the extent I had seen him in high-spirited dancing numbers on stage.