Japan sent ambassadors to the Tang Chinese court in Xi'an since 607 AD, as well as to the Koryo and Joseon dynasties of early Korea.
[1] For centuries, early modern Japan did not actively seek to expand its foreign relations.
The first Japanese ambassadors to a Western country travelled to Spain in 1613.
Japan did not open an embassy in the United States (in Washington, D.C.) until 1860.
Honorary consulates are excluded from this listing.