The Venza is based off the Harrier, which is the Japanese version of the Lexus RX. So in theory, they're very similar vehicles.

 

The last time the Harrier and the RX shared the same platform was in 2013. Since then, the JDM Harrier had been using the same platform as the RAV4/NX; and the new Harrier/Venza utilizes the same TNGA-K platform as the current RAV4 we get here.

There is no doubt the JDM Toyota luxury vehicles will likely trump any Lexus we get in NA though.