The first question you need to ask yourself is why are you exercising? If you're exercising just to be healthier and to live a longer life you probably don't need to feel sore. Around the world there are pockets of populations called blue zones where they have high percentages of people that live to be over the age of 100 and one of the things that every one of these populations has in common is they do over an hour a day of moderate exercise plus they have lots of low level activities built into their everyday lives but not enough that they ever feel sore. These people are over 100 and a lot of them live relatively independently with family, so they’re well enough to still do chores and more or less take care of themselves.