Humans, for the most part, don’t hear “key” they hear “intervals”, or the distance between notes. What we call “scales” or “keys” are just the same intervals applied in a sequence to different starting notes.
What I’m saying is if I sing a song on C Major, and then tomorrow sing you the same song in F major, you probably wouldn’t notice a difference, because you’re “hearing” the distance between notes (the “major scale”) and not the key.
So If the band is playing in C major, and I’m singing in D major, you’ll hear that I’m “off key”, I’m getting the intervals right, but the pitches are all wrong.
If the bank is playing in C major and I’m just saying whatever the fuck I want randomly, that’s out of tune I’m neither hitting the right notes, nor am I getting the distance between each note correct.
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