Hi Mitchy. I am not Catholic, but I was agnostic for many years before finding faith again a few years ago, so I do know what it's like to be both drawn to God and to find it all slightly off-putting at one and the same time.
It sounds as if there are two slightly different things going on with you... Frustration with the Church as an institution, and frustration with God.
I can understand frustration with the Church as an institution, but I try to remember that the Church is all of us, its members, and not just its leadership. If we want the Church - or our respective churches - to change, then it's up to us to make that happen. I guess that if there are specific things about your Church's doctrine that you struggle with, then you could look at other denominations... But you say that you like and miss the people, so you may not want to just go somewhere else.
In relation to prayer, I agree with KatherineLacey that it's not about 'getting stuff back', but about bringing what's on your mind to God and asking God to be with you (or your friends or whoever you're praying for) in whatever is going on in your/their lives. I believe that God is the kind of loving Father who lets you gallop that pony bareback across the field, or ride your bike down the steep stony hill in the full knowledge that there's a chance in both cases that you'll fall off and break a bone, and who, if the worst happens, picks you up and takes you to A&E. In other words, God doesn't make the bad stuff in life happen, but He's in it with us and is always there for us to turn to Him if we need Him. Freedom is such a strange gift - wonderful and terrible and terrifying at one and the same time. But I believe that it is a gift nonetheless.
That may make no sense at all, of course! Sending you good wishes anyway.