Well, in my opinion we should focus on the Moon.
As for Mars vs. Venus, both have unbreathable atmospheres. Mars is very cold, hundreds of degrees below zero cold. Venus is hot, melt stuff in a few minutes hot.
Mars doesn’t have rain or surface liquid water.
Venus also doesn’t have liquid water on the surface, but it does rain. The problem is it’s raining sulfuric acid.
Any probes we’ve tried sending to Venus have become dysfunctional within minutes.