If I am too sore for a cardio or lifting day, usually I'll do some yoga, which helps with muscle recovery for me. Stretching may seem painful at first, but it'll definitely help. I would also suggest doing an Epsom salt bath, or getting a massage/using electric massager. Over time, your muscles will get used to the extra work and the soreness will subside.
However, if you overwork your muscles and don't allow them to recover, you could be hindering your progress overall. I was working out (LHT 4x a week, cardio 2x, and yoga) consistently, bu then I went on vacation and just walked around a lot. When I got back, I was actually stronger because my muscles were allowed to recover properly. I thought I'd be weaker, but I rached a fitness goal! So I concluded that rest and recovery can be just as beneficial as working out sometimes. Just make sure to not get out of the working out habit by taking too many days off (like I did lol.)
Hope you feel better! And hope I could help