When you view everyone with suspicion, fear arises.
I think a lot of the people here who live in japan but are non-japanese and are often offended by the term "gaijin", do so because they feel when it is used, it is being used against them as in "you are not a part of our society" or "you will always be a foreigner no matter how long you live here", or perhaps they just feel that their identity as an individual is being smothered by constantly being just grouped as another outsider or foreigner.
When you live abroad, the most important thing is your identity as an individual- in a country that you find hard getting used to, or feel unhappy about in some way or another, it does make you feel better if people give you some mutual respect for being an individual rather than making you feel like outsider all the time.
Its the kind of discomfort you might feel when you've lived your whole life in the countryside, and all of a sudden you find yourself in the hubbub of fast-paced city life. It can be the opposite as well- if you are used to having people around you 24/7 where ever you go, it can be quick a shock to live in the middle of no where, even if you've been doing it for some time, it might not be something you'll ever get used to.
First impressions of the people around you are just as important of theirs of you- if you've lived a large part of your life in japan, i suppose it could become quite disheartening or annoying if people don't give you a chance to be someone different, but just instantly group you up with the rest of the outsiders because of your appearance or family bloodlines. Like others here have said, i think most of what depends is the context the term "gaijin" or "gaikokugin" is used in though.
Personally i wouldn't care less if i went on holiday to japan and some stranger or person i didn't know well called me "gaijin" (as long as they weren't intending it to be deliberatly and obviously offensive) because i am obviously a foreigner, and outsider if you will, and i don't look japanese in the slightest.
If i was half-japanese or korean or something though, i probably would feel offended, because when it comes down to it, there really isn't any obvious difference between most koreans or half-japanese and true japanese (at least to me there isn't), so i would probably be a lot more offended because i would not really be much of a foreigner or outsider, so the person calling me gaijin would probably be raising my non-japaneseness in a more direct way rather than just making a general statement about my appearance (which i believe is the case a lot of the time with non-asian people being called gaijin).
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