Soreness is NOT the sole indicator of a good workout (but it can be)
If you've been training for some time now on a similar routine you will begin to notice that you are getting sore less and less. This indicates that your body has begun to adapt to the training stimulus.
-Of course… you can still get results EVEN WHEN you are not getting sore
However… let's assume you've been lifting on that specific routine then one day you decide to go for a run or do a spin class. The next day you are SORE AS HELL.
Why? Were you not training those muscles in your current routine? Of course you were (or probably) and now you trained them "differently" a different stimulus or variation. In that, if there is SORENESS that is often the indicator that you've exposed A WEAK LINK.
Getting SORE or TIGHT is often an indicator of WEAK LINKS.
As you begin to spend more time on task with those exercises you will begin to adapt MORE to the stimulus and get sore less.
Soreness... in theory... is the body's expression of WEAKNESS… or you could say… when the body is pushed past a certain "capacity."
Though… even you, as a lifter, can get sore from the same exercises that you've been doing. Assuming you simply change the variation. It could be… more time under tension, pause reps or volume.
The idea I am pointing you towards is the body is an adaptation machine! You will adapt to training stimuli and you will be able to make more and more progress within them.
In essence you are training the body (or telling it) the demands it needs to meet. In time… the body learns to meet the demands. When the demand is suddenly changed the body is EXPOSED to a stimulus that it has yet to need to meet. That's why you are getting sore or NOT.
When you think from this lens it's empowering in the sense of knowing WHAT IS WEAK and what needs to be developed to meet your goals or lifestyle.