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Yes, there are differences between those things.
Poaching is cooking in hot liquid, but the liquid is not boiling or even simmering, so it is a lower temp than both.
Saute generally means you’re using a small amount of oil/fat and stirring/tossing the food to spread the oil/fat around on everything while cooking everything. Pan frying generally means you’re cooking a larger piece of something and not tossing it around.
Dude in the back is working on dessert with that CAKE