The Voyager is a great looking bike but I know someone who has one and is not happy with it. Bad mileage even with a 6 th gear, says the gear ratios are not matched well. That said they are giving the new ones away, check EBay. That kinda makes me wonder why so cheap??
The Venture is a very comfy ride, decent mileage even with a five speed, and IMHO a better built machine. Venture has its downsides also if I could afford to buy new I would probably skip the Venture because of carbs, cassette, 5speed, and no ABS. So... That said... Buying new I'd skip both but used at a good price I'm your Huckleberry.