Well you may still use 尊敬語 to talk to someone that is ‘in your group’, like a boss at work or something like that, but the closer they get to you, the less likely it becomes that you would use 尊敬語. Instead you would just use 丁寧語 if you were talking to like your immediate boss or something.
Really it depends on the company and the what the company culture is. 尊敬語 creates distance, so I doubt you’d use it with anyone you were actually close with. For argument’s sake, let’s say your immediate boss = 丁寧語, one boss above them = 丁寧語・尊敬語, one boss above them again/people that run the company = 尊敬語.
But yeah, your own family you wouldn’t use 尊敬語 for, as they’re not ‘others’ mentally. This one is kinda tricky. I just asked @Haruna and really the only time you’d use 尊敬語 for your own family is if your parents etc were some super amazing people (head of some warrior clan/huge company or something) and you think of them more as a figurehead than as a family member.