There are certain Protestants who regard Catholicism as legalistic. ‘Relationship not religion’ they say, and go on and about how they ‘hate religion but love Jesus’. The reality is that church government exists for a reason. The laws of the church are for our own good and reasonable. True legalism would mean that the law is still binding when fulfilling it is not possible and that’s simply not the case.
By contrast consider the fundamental Protestant belief (taught by Luther, Calvin et al.) in regards to the atonement. The Protestant thinking is that sin (original and actual) incurs a debt to the account of the individual, in the eyes of God. For those who are saved the righteousness of Christ is credited (imputed) to the individual and the guilt of that person is transferred (imputed) to Christ (who received the punishment). This is a purely legal transaction. I don’t recall scripture portraying God the Father as a banker. This theology is, generally speaking, ubiquitous in all forms of Protestantism but incompatible with Catholicism.
So if it’s ‘relationship not religion’ that matters to you, then check your theology just to be sure you aren’t the real legalist.