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Thanks... I wasn't so much worried about chord changes because that's pretty easy to hear by ear, I was more worried about the key because that makes it much easier to play/improvise on a song if you know the key...
Learning the chord changes and analyzing them is the best way (IMO) to determine the key of a piece of music only using the ear. If the piece has a guitar part that uses "standard" open chord voicings, the timbre of these chords can be easily recognized with some practice. Then you use basic jazz diatonic chord theory to analyze the tune and determine the key(s).
For example:
| CMaj7 | Amin7 | D7 | GMaj7| Emin7| A7 | Dmin7 | G7 |
Analyzing this, bar 1 is in CMajor. Bar 2 could also be in C Major, but Am D7 is ii V of GMajor, so bars 2, 3, and 4 are in GMajor. Bar 5 could also be in GMajor (as the vi chord or relative minor), but Emin is also the iii chord of CMajor. However, by looking ahead, we find that Emin7 A7 is a ii V of another ii V, so one interpretation (probably the most common in these cases)is that bars 5 and 6 are in DMajor while bars 7 and 8 are ii V of CMajor.
The key points are where the modulations occur. To trick the ear, you could play the GMajor scale over the EMin7 and make it a crossover chord between GMajor and DMajor. But most commonly, when you see a ii V, that bar follwed by the resolution to I is all in the key resoved to.
Who needs theory, right?
What I have found, in general, is that usually the 1st note the singer sings is the key...then you have to figure out if it´s major or minor.
With a little experience, you can tell when a song actually changes key or just has a momentary diversion from it. In this case, it's not a key change but a momentary diversion.If the case is knowing the key after already knowing how to play the song, you would use the notes that you already play to put the pieces together to figure out the key, but I think that isn't the full picture for improvising.
Take Billy Joel's You May Be Right. It is in the key of A, but that doesn't help you for the break when it does the E fill and then the A fill. The E fill isn't in the same key.