My gut feeling that that invading Venezuela (not just an air campaign) would an Iraq-level mistake. Unless they are able to get a replacement regime up and running very quickly (and given the competency of the opposition, that a big ask), they will stuck for years in a big country with millions of people with a grudge and a bunch of suppliers eager to support them from afar. It could destabilize Colombia, with its millions of people and other countries in the region. It would probably increase the number of people arriving at the US' southern borders, taxing the resources there as well. All while American resources are needed for other fronts. Meanwhile, the current regime is so weak that it can easily deterred with minimal amounts of manpower and material.
I see very few upsides and too many downsides in a land invasion.