IMO yes it is pretty noticeable. The main difference is slickness with Tiagra and a very slightly quicker shift. Tiagra also let's you change to an easier gear on the cassette three gears at a time if you want, Sora only allows a max jump of two gears with a full swing of the lever.
I've just put Sora 3500 on one of my bikes, and compared to 105 5700 on my "better" bike the difference is negligible. Obviously 9 vs 10 speed. Main thing I notice is changing (carefully) up and down a gear while climbing is vastly better on 105 but nothing to write home about.
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