authentication – Key differences between X509 TLS Client certificate and server certificate

Is there any difference in X509 TLS Client cert and Server cert?

I had been implementing the certificate based mutual authentication and hence trying to get/use certificate for clients which are IoT Devices. while we are pretty much clear on server certificate, I was wondering if client certificate that individual IoT devices will load and present to server for their authentication are same / similar to what is used for server!
will client certs also to be acquired from a CA and then they will be validated by server via root CA cert in same way as server cert is validated against the root CA?

would appreciate some insight!