the relationships between the speaker and listener using Keigo

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Fortunately, I have found that Japanese are generally forgiving to foreigners (i.e. non-Japanese), and that foreigners can be commonly excused from the practice of using perfect Keigo due to the difficulty in acquiring it. This should not be an excuse to give up on learning Keigo however, as there will still be the few hardcore staunch businessmen who will view it rude regardless if you are a non-Japanese or not if you can't use it eloquently. This is no different from other cultures. For example, if a non-native English speaker makes a spelling/grammatical mistake in English, many native speakers will understand that the speaker is not perfect and simply ignore it. There are obviously some, however, who willl annoyed by this and question why the speaker can't speak better English.

Although there is no perfect equivalent of what its like not using proper Keigo in English, it would be perhaps like going to a high-class fancy restaurant with somebody special, only to have the waiter approach you saying, "yo dudes, hows it going man. Get this steak is some good stuff man!!" Although the individual may have been trying to be helpful, not using the appropriate tone for the situation can make the individual look out of line. Similarly, using informal Japanese amongst friends is no problem, but not in business situations. At least "trying" to use Keigo (even if it is not 100% accurate) will make you look much more sharp and approachable to your Japanese audience.