It's easy for me to believe Jesus was born of a virgin, did miracles, died on a cross, and raised himself from the dead, then ascended to Heaven. No problem. You would think that might make me a Christian....
But, I don't think that "word of God", or "inerrant and infallible" are accurate...
A lot of time could be spent just answering you first question, "Have you ever thought that it is possible that this relationship could only exist in your imagination, and not in objective reality?".
Everything is sort of in your imagine in the first place. Your nervous system, working...