You know who knows how to put on a concert that doesn't sound like an album? Bob Dylan. I've seen him a couple times -- you can't even sing along; even if you know the lyrics he completely changes the rhythm and phrasing. (And yes there is an easy joke in there somewhere about not being able to understand Dylan's lyrics. But even if you do!)
You've probably noticed by now that Frank's concert arrangements were not the same as the album arrangements -- and that's without even getting into improvisation.
I never got to see Frank live; he died when I was 11 years old. But I've seen Zappa Plays Zappa some 3 or 4 times, and it's fucking delightful how different it is from what's on Frank's albums. (There are plenty of examples but the one that jumps out at me is Dirty Love -- maybe 3, 4 years ago? Woo woo!)
Can't imagine why anyone would go to a fucking concert to duplicate the experience of listening to a recording. I want to be surprised and delighted.