It's not true. The soreness goes away after a while - if you're using the same muscles over and over they get used to the exertion and don't complain anymore. Use muscle mass build-up as a technique to measure how well you're doing, and try switching up your workout once in a while to use different muscles.
I never got DOMS after working out. It would hit me 2 days later.
Are you going for strength our hypertrophy? If strength reps should only be 3-5 for 3-5 sets. If hypertrophy then reps are 6-10 for 3-5 sets.