Actually, not all shimano road calipers have the same pull, but newest sora and up all have the same Super SLR cable pull. As a general rule, all their shift/brake brake levers with the gear housing run under the tape are compatible. Older levers, new Claris, last gen Sora have the old shorter pull ratio, which most other brands use.
The longer pull Super SLR levers will feel very firm and lack power with shorter pull calipers. Short pull levers with the longer pull calipers will feel mushy and need to be run very close to the rim, but will stop harder if the lever doesn’t bottom out. It’s more subtle than the difference with v-brake MTB levers, but same idea.