Brodo et al. in Lichens of North America 2001:
X. ulophyllodes – rhizines abundant, pycnidia inconspicuous
X. fulva – rhizines absent or sparse, pycnidia conspicuous (orange “pimples”)
Hinds & Hinds in New England Flora 2007:
X. ulophyllodes – lobes 0.4-1.7 mm wide, flatter and wider, soredia marginal to submarginal
X. weberi (recent segregate from fulva) – lobes 0.2-0.6 mm, narrow, soredia underneath hoods at apices of semi-erect lobes
British Flora 2009 (2nd edition):
X. ulophyllodes – lobes horizontal, appressed, 5-8 mm long, blastidia marginal, often sparse
X. fulva – lobes mosty ascending, 1-2 mm long, blastidia covering entire lower surface, visible when viewed from above
[note: they claim both have rhizines]
Lindblom in Sonoran Flora, vol. II, 2004:
X. ulophyllodes – rhizines abundant, rosette-like
X. fulva – rhizines absent or sparse, forming colonies
[note: also mentions that fulva has narrower lobes in the notes]
Harris in Ozarks Flora 2005:
X. ulophyllodes – lobes prevailing > 0.6 mm broad, soralia primarily labriform and marginal and > 0.5 mm long
X. fulva – lobes < 0.5 mm broad and prevailingly ~0.2 mm broad, soralia marginal and terminal and < 0.4 mm long
A bit hard to summarize, because there are apparently some disagreements, but creative interpretation allows them to be reconciled, e.g., rhizines must be present in both, just sparse in fulva.
X. ulophyllodes – lobes broader and appressed, rosette-forming, rhizines common, soralia marginal, pycnidia inconspicuous
X. fulva – lobes narrower and semi-erect, colony-forming, rhizines sparse, soralia covering lower surface near tips, pycnidia conspicuous like orange pimples
[EDIT: It’s worth noting that the same analysis applies for oregana as well. The differences between oregana and ulophyllodes are very subtle, and require a comment of their own. But oregana is not present in the Great Lakes region.]