If you don’t want a part of your body to get sore, then that part shouldn’t be pushing against something that doesn’t move along with it. That’s the thinking behind the vabsRider bicycle saddle, the two sides of which pivot in time with your pedaling.
For short distances (no pun intended), I don’t think it’s necessary to use cycling shorts, or even special regular clothes. It’s a personal preference. I sweat more in regular clothes, so I don’t mind the cycling/technical wear.
But much of the riding I do recreationally tends to be long distance (80km+ at a time), so comfort is at the top of my list over pretty much everything else.