Watch the Soloing Study #5 online guitar lesson by Jon Finn from Modal Rock Soloing
Here's Jon soloing over the whole track with all of the key changes. Note that the transitions to the new key are quite smooth. It's because he knows exactly when the key change will happen, and he's already chosen how he'll navigate to the new key well before he gets there. Sort of like a slalom skier anticipating the next pole before he/she even sees it.