The rule of thumb that saved me: default to formal with anyone older, in authority, or you've just met, and wait for THEM to invite the informal. Being slightly too formal is a minor awkwardness; being too casual with the wrong person is a real gaffe.
My language has one 'you' and here there are two, with a whole etiquette about which to use with whom and when to switch. I've been too formal with friends (cold) and too casual with an official (rude) and cringed both times. How did you learn to feel the line rather than just memorise the rule?