The trims share the same power train. Sr5 is cheapest but you have to pay for add on like 3rd row and keyless entry.
Sr5 primium has leather and crawl control.
TRD off road rear diff, trail wheels, 4 x4 shifter
TRD trail edition, rear diff ,the trail wheels, Yakima roof basket 40 quart cooler. cargo tray.
TRD night shade, diff locker black door handles logos and touch entry
TRD pro off road , diff lock with lever, TRD pro off road wheels, and fox off road shocks.
The new limited have the standard 4x2 with the ability to put it in AWD mode. Dual climate control.
You can look up the extensive gizmo list on the Toyota site across the trims.
why no venture mentioned