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  1. I don’t think anyone with a little expertise in geophysics^* doubted that there were lava tubes on Venus, but theoretical certainty and actual evidence are very different things.

    * and some awareness of what the Venus radar probes had already mapped.

  2. The surface of Venus is likely the most inhospitable solid surface in our solar system. Humans will never walk there. Robotics may but its just too hot and acidic.

    IO might be hotter and more radioactive but the acid factor wins here.