Sora has 9 speed at the rear, Tiagra has 10 speed and 105 11 speed. This means you get slightly more gears at the back with each step up in price.
Edit to add: They get slightly lighter in weight as well with each step up, but you're talking a few hundred grams at most, or less than a packet of biscuits

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Note this doesn't mean more range of gears, but that the steps between them when you change gear are smaller. This is useful for racing or if you ride really long distances, but in terms of how fast or how hard or how comfortable your ride is it won't make the slightest difference. I have all three, and if I'm pushed 105 is better at shifting than the other two, but it's a very very very small difference and it's probably because I spend a bit more time keeping that bike maintained
Up until recently I had a commuter bike with Sora on it which I rode for nearly 20k miles and at no point did I feel like I needed a more expensive setup - in fact Sora is pretty much the sweet spot for commuting as it's the cheapest to get replacement parts for, although Tiagra is getting there.
The reality is that they will all perform very well and I wouldn't feel the need to buy one over the other there are more important considerations to have like whether you like how well it fits your or whether it fits in your budget.