Peter went on the Great Embassy in 1698 to foster better relationships with other European nations and build Russia's prestige (especially military) abroad, in wake of Azov Campaigns. He travelled to places like England, Venice, the Netherlands - built up skills such as papercraft and navigation and met with scientists in the latter. Despite his unruly conduct in England and other places, he was viewed quite positively, with England's Russian ambassador praising the nation. Signed the Treaty of Friendship with Prussia, which was strategically important. At the same time, progress in foreign policy was relatively limited. Had an altercation with a guard stationed at Riga, Sweden - he held a life-long grudge against Charles XII of Sweden due to this. He rushed back after reports of another streltsy uprising - didn't visit France. Wore a disguise - idea of meritocracy/wanting to hide from Turks and streltsy?