Should work if Sora is medium cage
I put a Shimano Alivio CS-HG400 9-Speed 11-36t Cassette on my bike with Tiagra road shifters, and a Shimano Sora RD-R3000-GS 9-Speed Medium Cage Rear Derailleur to replace original short cage 105. It shifts onto the 36t just fine with bike on work-stand. Can't wait to try it out when Spring arrives! B- screw is nowhere near maxed out, so it might even work on a 40t.