I had a 2009 Venza and traded it in for a 2012 Camry back in August. I LOVE LOVE the looks of the Venza, but I hated the drive. Mine was a V6 and had those low profile wheels and tires. It was very very rough and uncomfortable especially compared to my previous Avalon. My husband has a Frontier truck and it has a smoother ride than the Venza. I still love the looks of the Venza - it was actually the first car I ever got excited about owning. I like my Camry and how it drives, but I loved the Venza, except for the ride. If comfort is important to you, then don't get a Venza.
Hopefully the newer models have changed. I am a Toyota fan.