End-to-end Speech Translation (ST) aims to convert speech into target text within a unified model. The inherent differences between speech and text modalities often impede effective cross-modal and cross-lingual transfer. Existing methods typically employ hard alignment (H-Align) of individual speech and text segments, which can degrade textual representations. To address this, we introduce Soft Alignment (S-Align), using adversarial training to align the representation spaces of both modalities. S-Align creates a modality-invariant space while preserving individual modality quality. Experiments on three languages from the MuST-C dataset show S-Align outperforms H-Align across multiple tasks and offers translation capabilities on par with specialized translation models.