Nice that you have been exposed to modern theological thinking although I do believe that Tony Palmer does go a bit overboard in this talk particularly with the title.
Catholic is perhaps the most misunderstand stood word in the world, typically being conflated with Roman Catholic. The term actually means 'universal,' denominations which see themselves as Catholic hold with apostolic succession from the early Church, and see themselves as being a constituent part of the Church Universal (The Orthodox Churches, Anglicans/Episcopalians, many Lutherans, Roman Catholics).
By the way Tony Palmer died over a year ago.