Lightning Component 'force:navigateToRelatedList' related list view errors

Within a Lightning Experience custom detail page app, using the force:navigateToRelatedList Lightning Aura event may result in errors. When the force:navigateToRelatedList event fires, the expected behavior is to navigate to a new page displaying all records for a related list.
Instead, you may see one or both of the following errors:

• "This list view isn't available in Lightning Experience. To see this list view, use Salesforce Classic or switch to another list view."
• "Unfortunately, the related list you're trying to view isn't in the layout. Please get in touch with your administrator."

How the event works in a Lightning Aura component:
In a Lightning Aura component, a link element with an onclick handler calls a controller function (for example, openRelatedList). The controller function retrieves the force:navigateToRelatedList application event, sets the relatedListId to the custom relationship API name (for example, RelationshipName__r) and the parentRecordId from the component's record ID attribute, then fires the event. If the related list is not included in the object's page layout, this event will produce the errors listed above.

Lightning Component Example

In the Component:

<a href="javascript:void(0);" onclick="{!c.openRelatedList}">View all</a>

In the Controller:

openRelatedList: function(component, _event){
   var relatedListEvent = $A.get("e.force:navigateToRelatedList");
   relatedListEvent.setParams({
      "relatedListId": "RelationshipName__r",
      "parentRecordId": component.get("v.recordId")
   });
   relatedListEvent.fire();
}