Can I just add something. I`ve read all the comments and feel that something else is going on here. I too have a Sora equipped bike which started with the 3400 series. I always seemed to have had a problem with shifting up the cassette, perhaps mid gearing. It was something I put up with as it did`nt always do it. I, like the OP had changed cables etc, I fitted a new 3500 RD and even changed that to R3000. I never had a problem getting it into the lowest gear or highest gear. It was just that sometimes as I said mid cassette it would`nt shift but if I just pulled the cable by hand slightly it would magically play ball.
OK then what did I do ? As I said I`d changed cables outer and inners and still the same. I changed them again and this time to Shimano SP41, paying particular attention to the 300mm one that fits into the RD. This I bought pre-cut. I also fitted an SP 41 outer gear casing long nose, this goes into the RD. This is similar to what my 105 5800 bike has. The new cables elsewhere I made sure that they were cut properly with clean cuts and no drag. I also replaced the under bracket cable guide as this had a groove and added friction. The new one was a Shimano one. The problem was solved. I have recently upgraded to R3000 shifters and FD and it still works fine. When I first had the problem I thought that it was the STI shifter causing the problem. The shifting is as sweet as the 105.
Here is a link to the long outer casing cap.
https://www.ebay.co.uk/itm/334289709991
I know these things can get you down at times, sometimes you need to take a step back and look outside the box. Throwing money at something may not help at all. I hope you can get it sorted. I have taken a picture of my RD with the part in situ that I mentioned. If someone says my cable is`nt fitted correctly I`ll eat my hat ! Good luck