Questions about Wesleyan Denominations

I have been reading and watching alot about John Wesley and the different churches. It seems to me that Wesley and Whitfield were teaching in a way that did not emphasize structure, ritual, hierarchies of authority, etc. but rather simple faith and moved away from the Anglican system that resembled the Roman Catholic/Orthodox one. If the Methodists initiated camp preaching in the fields and traveling preachers, etc., how is it that the Methodist church has bishops, Anglican style rituals, structures, etc., ? I think it is the case that the Wesleyan and Nazarene church have not taken on all the structures of the Anglican church.

Also, I am not sure I understand exactly the differences between the Wesleyan Church, the Nazarene Church and the regular Methodist Church today. Do they disagree on what some might call subtle and obscure questions of theology or church structure?