Which one has a smoother ride? And why? Im looking for a suv or crossover with the most smooth ride....i like both of these!!

We have a Highlander, which is based on a truck chassis (even thought of as a "truck" by insurance company) and the ride is a little noticeably rough, although not as much as a Tacoma...no knowledge of Venza. Take both for test rides over bumpy roads :}