From my understanding... no. When you modulate you dont change any of the notes of you scale you just use them in a different way. Like C Major contains no sharps or flats, and A Minor too contains no sharps or flats which means you can modulate b/w the two. A major scale and a minor scale have different sounds, and a lot of times they contain different notes so that may be where a lot of people think the difference is, but here you have a major scale and a minor scale that contain all the same notes... So in a sense it's the way that your ear hear it. What i'm doing if i modulate i'm changing the root. So if i do it right when someone listens to me modulate from C Ionian to A Aeolian after i modulate the A will stick out in their memory and that will become the reference point that the rest of the notes will measure up to. So you have different intervals and different sounds. On a side note if im playing a solo i probably modulate all the time whether i realize it or not, because of my skill level it just happens based on how im playing and i dont even know it.
If you learn how to play songs, then you learn songs. If you learn how to improvise, then you learn music.
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