I don't know statistically, but in my anecdotal experience, no. I'm quite fat, gave birth in my 30s. I had a 9-5 baby the first time and a 11-6 baby the second time when I was 36. I felt like it was easier the second time, because I didn't have much water gain at all, whereas the first time I still had a lot of water retention and constipation for the first few weeks. I do feel like I ate better and exercised more in the second pregnancy, which may have helped to keep the water retention down.
I didn't really have much pain or trouble walking while pregnant, so that might be part of it also. If you have PSD or other problems, maybe feeling sore is more common as you recover and adjust. I had a homebirth the second time around, and I did notice sore muscles in my arms and chest for a day afterwards.
I think the biggest problem with having the large babies with kind of large heads is that I ended up tearing some each time. My biggest issue after my two births was sitting, I was fine standing and walking. I had a perineal hematoma the first time that made sitting sometimes painful. I had 10 stitches the second time, which also made sitting painful, although that healed much more quickly than the hematoma. So I think the size of the baby mattered in that regard, so maybe the answer is yes. I didn't have problems walking other than the tear with the stitches. I got up and got dressed the next day and every time I had to go to the bathroom, I went upstairs to the master bathroom, since all my stuff was up there and it was easier.
I'm wondering if just not being pregnant as long ended up being easier on your hips and ligaments and such. I was over 41 weeks when I gave birth to my second one who was quite large, so that's a lot more weight and time carrying the weight around, but since I'm larger, I'm used to carrying a lot of weight around anyway, so I figured I wasn't as stressed out by it as would a smaller woman who gained a lot. I gained very little weight with that pregnancy and lost more than I gained the day she was born, so maybe that was part of it also. So if you didn't gain a lot, and you didn't have the extra weeks of carrying around increasingly larger babies, I think that could play into it, now that I think about it.