Shalom in Yeshua ! (Peace and Freedom from sin and form all the consequences of sin to all who receive Jesus) I was born and raised LCMS, went thru Lutheran grade school in north county st.louis, missouri, and Lutherans HS.
I was and am very glad for the training and education I received. I didn't know anything else(anything about other 'religions' or denominations) at the time, and didn't ever think about it as far as I can recall(about half century ago!)...
Later I was taught about Methodists, Baptists, Assembly of God, Pentacostal, Church of God 7th day, and rcc.
I can confidently with knowledge and experience say that LCMS as I was raised and worshipped God had nothing at all to do with the rcc or it's ways.
Other churches might have a little or a lot the same, but I saw quite a big difference in faith and practice and life and obedience to God's Word.
In other words, you could choose LCMS, or you could go to the rcc, but from what I lived and saw and was taught there's no way you could do both at the same time- in my experience and what I learned from Scripture they are incompatibly different.
(yes, I know some (maybe a lot) of even Lutheran churches have found a way to 'get along', but that was not in my time, and I don't see the changes as good in any way for the Lutherans that did change that way.).
I personally need a church home that has liturgy like the Catholics and believes in the real presence of Jesus at Communion.