“Besides the pomp and circumstance, is there a difference between being a Lutheran vs a Baptist vs a Catholic?”
One can find believers in those denominations and in others. The difference is in how they worship. Of course between them they would disagree.
There are a number of differences among Methodists, Catholics, Presbyterians, and other denominations on matters such as sanctification, predestination, baptism, the concept of immaculate conception, etc.
Between a Lutheran and a Catholic , there is little difference any more. There still ARE differences, but not the yawning gulf that once was
Between Lutherans and Baptists there is a yawning gulf