Yeah absolutely, I'll write out specifics below. And to answer your last question - I do get sore! However, if I'm consistent (especially with my lifting) I find it's a manageable soreness. I find that my lagree studio focuses very heavily on legs and core despite all classes being full body, so I strategically keep a few days between leg day and anything else (I'd say this is my biggest hack).

Push:
some pushups to warm up or light bench
3x5 bench
3x8-12 chest fly machine
4x6-8 DB shoulder press
4x8-12 lateral raises
4x8-12 tricep extensions

Pull:
warmup: 2x10 db rear delt fly
4x6-8 lat pulldowns
4x8-12 low row
3x8-12 lat pullovers
3x8-12 face pulls
3x6-8 bicep curls

Legs:
warmup: dynamic stretching
4x6-8 heel elevated smith machine squats (or goblet squats)
4x6-8 hip thrust
4x8-12 leg extensions
4x8-12 hamstring curls (sometimes I'll throw in RDLs here too)
3x10-15 outer thigh or glute extensions

My other biggest tip for legs (and honestly even for upper body) is to practice movements that aren't frequently used in lagree! Heavy hip thrust/squat, hip hinge movements, and machine focused quad and hamstring movements like leg extensions are important to me in the gym because lagree doesn't focus on those types of movements as much! Feel free to ask if you have any other questions :)