I've learned the c major scale. I've got a pretty good grasp on memorizing scales. If I really sat down and put a lot of time into it I'm sure I could learn all the major scales in a relatively small amount of time. Memoizatiom isn't really the problem, it's all the little techniques and nuances that you mentioned that go into getting a good sound that's the difficult part. When I'm jamming I just do a lot of improv, I really don't know which scale or mode im using. But if I have a written song ill actually sit down, learn and experiment with different modes/scales.
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