You could make just about any car work with only one bike. Would need a rack for the tiny ones. I'm currently using an old Audi A4. The split folding rear seat fits the entire bike sans front wheel easily. I guess you like the mini SUV type cars? Looked up the Toyota Venza and their website says 2015 will be the last model year for it:
Toyota Venza is Discontinued . I would think about the primary use for the car. If its just a commuting car, then try to select something small and fuel efficient. Otherwise, if you want cargo space then I'd go for a wagon over an SUV or minivan.