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The Church at Luther's time was in a sorry shape. This is what the scripture says about it: love your wives as Christ also loved the church and delivered himself up for it: That he might sanctify it, cleansing it by the laver of water in the word of life: That he might present it to himself, a glorious church, not having spot or wrinkle or any such thing; but that it should be holy and without blemish (Eph 5)

The true church, the body of all believers, yes. Not the Roman Catholic institution at that time. It was more like this:

Jude 1

3Beloved, when I gave all diligence to write unto you of the common salvation, it was needful for me to write unto you, and exhort you that ye should earnestly contend for the faith which was once delivered unto the saints.

4For there are certain men crept in unawares, who were before of old ordained to this condemnation, ungodly men, turning the grace of our God into lasciviousness, and denying the only Lord God, and our Lord Jesus Christ.

... 7Even as Sodom and Gomorrha, and the cities about them in like manner, giving themselves over to fornication, and going after strange flesh, are set forth for an example, suffering the vengeance of eternal fire.

8Likewise also these filthy dreamers defile the flesh, despise dominion, and speak evil of dignities.

... 10But these speak evil of those things which they know not: but what they know naturally, as brute beasts, in those things they corrupt themselves.

11Woe unto them! for they have gone in the way of Cain, and ran greedily after the error of Balaam for reward, and perished in the gainsaying of Core.

12These are spots in your feasts of charity, when they feast with you, feeding themselves without fear: clouds they are without water, carried about of winds; trees whose fruit withereth, without fruit, twice dead, plucked up by the roots;

13Raging waves of the sea, foaming out their own shame; wandering stars, to whom is reserved the blackness of darkness for ever.

Luther refused to spend his life under evil men. He married a woman he loved very much. They had many children whom they raised to love the Lord. He served as a pastor and teacher. He was FAR from perfect; but none are. He truly believed and loved the Lord. But, he was a man of his own times as were many of the Reformers and Catholics at the time. He should be judged by that standard not our own.