Working out sore / rest days?

Hey everyone, long time lurker here. I'm 46M about 5'9 and about 3 years ago I decided I needed a big change in my life. It wasn't easy, but I've been able to dedicate myself and now workout every day.

I target the same muscle groups often, because I like to feel sore. However, some of my gym friends have recently began to comment that I don't take very many rest days. Which led me to ask here, how many of you work out while sore? How important is rest to long term gains?

If I continue working out every day on same / similar muscule groups and mind overwork or injury, is that hurting my long term goals?

Thanks everyone.