I could be wrong, but I think most of the people that installed hitches on Venue intended to only carry bicycles.
Before proceeding it might be worth asking if the warranty would be impacted since Hyundai says the Venue has no towing capacity.
From page 5-91 of the Canadian owners manual.
We do not recommend using this vehicle for trailer towing."
To calc how much cargo you can carry according to the tire placard it's...
838-weight of passengers=available cargo capacity.
380-weight of passengers=available cargo capacity.
You have 5 passengers weighing 150 pounds each.
838-750=88 pounds of available cargo capacity.