In the old days, I played mostly with a WilsonProStaffKramer. Moderately soft, middle of the road.
When I switched to the Bancroft Red triaxial glass racket, which was MUCH softer, my volleys actually improved, while my serves lost what seemed like 10 mph off the first flats. Second serves seemed about the same.
A stiff racket might be harder to volley with, as the ball leaves the strings too fast, and you get no FEEL for the ball.