Some soreness is obviously expected when you put in hard work, a lot of the beginning, but you shouldn't strive for DOMS as a goal in and of itself, nor should it be something constantly holding you back. Too much DOMS impedes motor control and reduces your ability to produce high force muscle contractions in the subsequent workout. No one really knows what DOMS is, and it isn't correlated with muscle damage
necessarily. It can be, but it's not well understood. Furthermore, different parts of the body will experience various degrees of DOMS no matter how hard you work them. This article is a pretty decent summary on it:
"Moreover, DOMS displays a great deal of interindividual variability (58). This variability persists even in highly experienced lifters, with some consistently reporting perceived soreness after a workout, whereas others experiencing little, if any, postexercise muscular tenderness. Anecdotally, many bodybuilders claim that certain muscles are more prone to soreness than others. They report that some muscles almost never experience DOMS, whereas other muscles almost always experience DOMS after training. Recent research supports these assertions (52). Because the bodybuilders possess marked hypertrophy of the muscles that are and are not prone to DOMS, it casts doubt on the supposition that soreness is mandatory for muscle development. Moreover, genetic differences in central and peripheral adjustments and variations in receptor types and in the ability to modulate pain at multiple levels in the nervous system have been proposed to explain these discrepant responses (35). Yet, there is no evidence that muscle development is attenuated in those who fail to get sore postexercise."
"Training status has an effect on the extent of DOMS. Soreness tends to dissipate when a muscle group is subjected to subsequent bouts of the same exercise stimulus. This is consistent with the “repeated bout effect,” where regimented exercise training attenuates the extent of muscle damage (32). Even lighter loads protect muscles from experiencing DOMS during subsequent bouts of exercise (26). Therefore, training a muscle group on a frequent basis would reduce soreness, yet could still deliver impressive hypertrophic results. A number of explanations have been provided to explain the repeated bout effect, including a strengthening of connective tissue, increased efficiency in the recruitment of motor units, greater motor unit synchronization, a more even distribution of the workload among fibers, and/or a greater contribution of synergistic muscles (3,57)."
https://journals.lww.com/nsca-scj/f...cise_muscle_soreness_a_valid_indicator.2.aspx