The Venza is built on the Camry chassis and has been dubbed the Camry Wagon. It is well thought out, rides much like the Camry, and overall has a more car like feel and handling. The RAV4 is built on a slightly beefed up Corolla chassis and won't have quite the ride as the Venza, will sit higher like an SUV, and has slightly better off road capabilities. Neither of these cars are true off road vehicles - for that you must go up to a Forerunner. Passenger comfort goes to the Venza, but overall usefulness goes to the RAV4. It is a difficult choice and boils down to how you are going to use the vehicle. Both are well tested with tried and true components throughout. And both are more that adequate with the V-6. No problem with the 4 cylinder either. It just works a little harder.
