Herkese merhaba

Is there any difference between ulaşmak and varmak in Turkish?

Hastaneye ulaştığımda doktoru gördüm
When I arrived at the hospital, I saw the doctor.

Would it mean exactly the same if I´d say
Hastaneye vardığımda doktoru gördüm

More or less

Ulaşmak = reach

Varmak = arrive

The two sentences have almost the same meaning. But maybe the first one means it took me some effort to get there and the second with less effort.

Thank you very much for the clarification!