How do we respond to those who say that Tawaf is a form of worship similar to idol worship?

The essence of the religion of Islam is submission to Allah alone and disbelieving in all false deities besides Him. This differs from the pre-Islamic paganism, which means submitting to other than Allah. The monotheistic Muslim obeys Allah’s commands, such as prostrating to humans if commanded to do so as an act of worship to Allah. As for the polytheist, he prostrates to humans or stones out of veneration for their essence. For the monotheistic Muslim, circumambulating the Kaaba is in compliance with Allah’s command in His saying: (And let them circumambulate the Ancient House), so he circumambulates out of obedience to Allah and desire for Him, without believing that the stones of the House can bring benefit or harm. Whereas the pagan polytheist circumambulates stones or domes out of veneration for their essence, hoping that they will relieve distress, and this is a major difference between the actions of the people of monotheism and polytheism.