The entire body, aside from the bones, is considered "Soft Tissue." The answer to this question will be location-specific. To know what soft tissues are "underlying" an area, we need to know what area we are talking about.
The term underlying just means, "deeper inside the body." So, underlying the skin is the surface fascia (aka connective tissue), the capillary beds, and so forth. Underlying the abdominal muscle wall is the abdominal cavity, filled with the organs of digestion and elimination, etc.
So "underlying soft tissue" means whatever organs or structures are present deeper inside the body at that location.
The underlying soft tissues of your arm include the biceps and triceps muscles, and the blood vessels and nerves supplying energy to them, etc. The underlying soft tissues of your head include the tongue, the eyes, the brain, the glands, the jaw muscles, etc.
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