Yes. By the real-number analogue of the Tseytin transformation, that
reduces to the existential theory of the reals, which is in PSPACE by
page 291 and the bottom of page 290 from this paper
and
the answers to this questionthis question
.
For all real numbers $x$, $\sqrt{x^2}$ and $x$ are both well-formed and $\sqrt{x^2} = x$ if and only if $0\leq x$ , so testing inequality reduces to your problem. I'm not aware of any better upper bound for testing inequalities of sums-of-square-rootsinequalities of sums-of-square-roots than this paper, which puts it in the counting hierarchy.