There are two synods (Missouri and Wisconsin) and Evangelical. Now, don’t let the state names confuse you, they can be anywhere. For example I grew up in Wisconsin and all the churches (we moved a lot) were Missouri synod. I live in Missouri now and the Lutheran churches I see are Wisconsin or Evangelical. Go figure :).
They have a very set service (usually right around an hour). There’s actually books, they look like prayer books but tell you what should happen each Sunday of the year… the topic, which hymns, etc. These aren’t books you are expected to have as a member, but the church uses them. They use several hymns each sermon, and prayer.
In my experience they are very down to earth. Sermons are more a lesson from the bible in today’s terms. Not just “Ye shall do THIS!”. There’s a lot of stand up/sit down. I went to my Catholic friend’s church some in middle school and it did seem similar on the surface, but different at the heart. But I’ve never been to a Lutheran church that kneeled for communion, nor one that wouldn’t let anyone take communion. Some churches require you to speak with the pastor before taking communion, and I wouldn’t doubt extreme churches require you to be a member, or of their synod tough… most will just accept that you’re Christian and want to commune with Christ and leave it between you and God.
While the service is very structured, the denomination is very accepting on personal time with God, and your spirituality. You don’t scream and have visions. You get together to celebrate God, your community and your family and most of all to learn and recognize your sins so that you can be a better person. You don’t confess, you don’t condemn. You support.
Obviously this is my experience and my opnions and the churches I’ve attended. I’m definitely no expert. But I hope it helps.
Most of all, don’t try to be a religion or dominiation you don’t want to be. If you feel it and want it, or are curious by all means learn more about it and see if it fits you and speaks to you.
This page looks straight out of the 1990s so it looks hinky, but it’s got the links to the three main Luthern synods. I tested them myself. http://www.lutheran.org/ Find out what synod the church is, and research from there. These days it’s likely the church has a web page and somewhere on it will tell you what synod it is if you’re afraid to ask. You could always just call the church number and ask too!
ETA I know I said 2 synods at the top and 3 in the last paragraph, I’m not sure if Evangelical is a synod? It apparently was started in 1988. I think I’ve heard of it before but didn’t really think of it … so I don’t know if it’s considered a synod or it’s own offshoot. *shrug* Sorry for any confusion.