Hello!
I should first of all say that, as with any church, everyone is welcome! To become a member of a local confessional Lutheran church such as the LCMS and WELS, and to be able to receive God's gift of the Eucharist, there is a process because we want to be able to believe and confess the same faith in Christ with a clear conscience. This involves catechesis and Baptism in accordance with the words of our Lord, who has instructed us to baptise and teach in His name.
So, how does this work out? It depends on people's background, so the first step is to speak with the Pastor of the local congregation. Let me give you a few scenarios:
If the person is a Christian but not baptised, he would need to be catechised and baptised. If the person is a Christian convert and is baptised in a non-trinitarian religion (Jehovah's Witnesses, Mormons, Oneness Pentecostal, Unitarian etc.), again, he would need to be catechised and baptised. If he is Christian and baptised in the name of the Father, Son, and Holy Spirit, the Pastor may take a view on his understanding of the Christian faith. If the Pastor finds that he has a good understanding of God's Word, he may not need full-on catechesis, but a summary and a confirmation may be appropriate. This is common with people who are members of different denominations but have studied Lutheran doctrine and finally wish to become a member of a Lutheran church. Or if a Pastor finds that a baptised Christian could benefit from catechesis, then again, catechesis would be appropriate. This is often the case with Christians from other denominations who are interested in the Lutheran church, but may have questions or confusion about some parts of God's Word.
This is all to say that catechesis and Baptism are not mechanical things and our goal is not to achieve a mere outward membership. Rather, we recognise that people come from a variety of backgrounds and have different needs, and those needs must be met appropriately. So we welcome new members with joy but also with the reverence that it deserves. In short, we recognise that church membership should echo Mark 16:16: Whoever believes and is baptised will be saved, but whoever does not believe will be condemned. So faith and Baptism in accordance with God's Word are what we wish to bestow on all members, by the grace of God.
God bless!