Toyota says it's a crossover (i.e. SUV body built on a passenger car's mechanicals). In the Venza's case, it's built on the Camry passenger car platform.
Personally I think it's much closer to a car end of the crossover spectrum. It rides low like a passenger car and has the Camry drivetrain. Basically it's a station wagon.
The Highlander is also a crossover built on the Camry platform, but it's closer to the SUV end of the crossover spectrum, with its higher suspension and boxier body.