There are a few differences stated below:

SOA focuses on sharing almost everything with other modules. But when you talk about microservices, the aim is to share as little as possible.

The approach is completely different. Apart from that, you have modular applications in SOA, but there are still a lot of interdependencies. That is not the case with microservices.

When talking about intercommunication between services, in SOA you need a middleware for communication. But in microservices, that are completely independent and you do not need a middleware for that, they directly communicate to the rest of APIs.