Give it a few months of frequent enough workouts and you won't get sore.BUT what keeps messing me up from getting going with any program is how incredibly sore I get after lifting from just 1 or 2 workouts !
All the things I read on strength training say not to lift again when you are still sore, cause your muscles are rebuilding, but if that soreness lasts 2, 3, or 4 days, what do you do? (I foam roll, use a massage gun, drink lots of water)
And, working out while sore is fine, unless its reeeeeeeeal bad - Just take it a bit easier