Very much so. If a toy is made of glass or steel, it will not give, if there is any texture you will defiantly feel it. Whereas if it is a softer material, say TPR, the texture will not be felt as much. Furthermore, softer materials are more forgiving. If you hit you cervix with a softer material it may only be uncomfortable, if you hit it with glass, it may bruise it.

Most folks start out with softer materials until they learn their body's then move up to the harder materials. Although, some ladies may start with a hard plastic vibe for clitoral stimulation.