Absolutely. Don't go by soreness to know if you've recovered. If, however, you find that your strength levels begin to suffer, then you'll know that you haven't recovered from your last session and need to back off a little.
I find that training actually improves my doms and loosens me up.
Current PRs at 242, raw w/ wraps- 525, 355, 605, 1485
Roboro tui, perimo vester adversarius
(Build yourself, destroy your enemy)