Well here we go. First I don't get sore except after a long break and then lifting hard and heavy. This is what I do to keep myself free from soreness.
I stretch: In the morning, before, during & after workouts, several times during the day, before bed.
I warm-up: before I do anything.
I take recovery drinks after all workouts.
Most important, I have no stress tension. I have learned to stay relaxed and how to relax when shit happens.
I don't believe there is any one thing that prevents soarness. Then again it may be genetic or determined by muscle fiber type. Best of luck in finding what works for you.