The Brewers rotation is vastly superior to the Twins. That's why their starters go longer. The Twins' rotation would have many more innings logged if they had Burnes, Woodruff, Houser, and Lauer in it, too.
As for the bullpen, the only noticeable difference is the closer, as Hader is a strict one-inning reliever. But that's not surprising, as Hader has a pretty steep drop-off after one inning and he's literally the best one-inning reliever in baseball so that approach makes a ton of sense. The Twins do not have Josh Hader.