Its been a while....

Yes its more professional to take some one aside and address your issues at work instead of "calling them out."
Yes, both nurses and paramedics work under protocols and guidelines, and even doctors have guidelines. Nurses autonomy vary's dramatically on the nurses specialty, facility, and department, at least from what I have seen. I have worked at hospitals and transported to facilities where the nurses on a med/surg floor all had BSN's, but had to call "the IV" team to start IV's. They where not authorized to do do them as RN's at that hospital in that department. I have also seen where it was a protocol for them to overhead page the ED for a cardiac arrests on there floor, only to arrive to find them doing nothing or sometimes chest compression only. On the other side of the fence, those aren't emergency nurses. There are RN's who are on the flight team and critical care transport team with a higher scope of practice and more authority than the paramedic in some areas. There are also nurses in the ED who I have seen do EJ's and chest decompression under the supervision of the doc. There are school nurses and occupational health nurses who work completely alone with no supervision and runs the whole show.
At the end of the day, I would say ( at least from my own experience), Paramedics as a whole, make more independent judgment calls and have more autonomy. Their entire education framework and training is based around something very specific, aggressively treating emergency's outside of a hospital. Furthermore, its also based on the medical model not the holistic model.
I might get flamed for this, but I say this because nowadays in many systems, its not uncommon to have only 1 ALS provider (paramedic) on the scene orchestrating the entire thing, even preforming an RSI solo. That one(or maybe 2) provider makes a differential diagnosis on his/her own and also initiates an aggressive and rapid treatment plan independently on the scene. That is a lot of responsibility to put on one person, especially in such an uncontrolled environment. Its pretty rare to call medical control for permission to do something in many of those systems, but then again that depends entirely on your system.