What you may not realize is that what you are seeing in the Lutheran church is very similar to the way Christians have worshiped since the very beginning. It's not that there is a focus on outward trappings, but that there is rich symbolism and meaningful ritual associated with the Divine Service.
Remember that worship is not something we do to please God, but it is God pouring out his gifts upon us and our response in reverent thankfulness and praise. The vestments of the pastor remind us that a man is present, but that God is using him to speak to us and to distribute tangible forgiveness to us in the sacraments. The Liturgy is not just some old-fashioned, stodgy way of doing church, it is a time-tested, tried-and-true order of reverently receiving God's gifts and returning thanks. It is the way the Apostles worshiped and taught the Church to worship in a timeless manner, not being blown about by every wind of fad or fashion.
The way you worship is based on your theology. If your theology is Christ-centered, focused on God's grace and Christ's work done on our behalf to save us, then your worship will look like the traditional liturgy. If your theology is man-centered, focused on man's good deeds, feelings and decisions, then your worship will look like the pietistic, experiential, emotional services of the heirs of revivalism.
The way non-denoms do church is only a few decades old, and must constantly change to maintain it's focus on fads and trends. It is very man-centered, manipulative of emotions (mystical), appealing to man's reason (rationalistic), and focuses on helping us to seek happiness through obedience to God's law (moralism).
Three Broken Ladders « The World Wide Wolfmueller
If you've been out of Lutheran circles for a while, I would suggest two brief, inexpensive books recently published that could help you to regain what you may have lost.
Spirituality of the Cross Revised Edition: Gene Edward Veith: 9780758613035: Amazon.com: Books
Amazon.com: Grace Upon Grace: Spirituality for Today (9780758613042): John W. Kleinig: Books
Also, a very good inexpensive book that will help you to cultivate a deeper appreciation for liturgical worship is this:
Amazon.com: Heaven on Earth: The Gifts of Christ in the Divine Service (9780758606716): Arthur A., Jr. Just: Books