Originally Posted by
zen_
Ultegra hydraulic (previous generation) - You can find these on eBay right now as a set with both shifters, calipers, hoses, and other misc parts for $290. Really good deal. The brake feel and modulation is much better than the HY/RD. Setup is more involved than cable brakes, but maintenance should be less, and cable / housing wear will not affect feel, or performance.
OP has Sora drivetrain. Upgrade to Ultegra will require changing pretty much everything else. Very expensive. Not a good suggestion. $290 does not cover the full upgrade