This is my first attempt so I could probably make it a bit more efficient or lighter overall, but it works! I did my best to keep it as normal looking as possible from the outside.

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It does use clipping but only for the landing legs and RCS, everything compatible with normal mode with challenge mode enabled and no cheats. I made this on Android, I don't have the game on Steam yet so I don't know if it works the same there.

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The booster rockets and first stage take you to almost orbit, the second stage finishes your orbit and takes you to Venus.

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When navigating to Venus make sure you plunge directly into the planet without going into orbit first, the heat shields can take it.

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Detach the second stage, enable RCS and as soon as you reach the atmosphere tilt the lander horizontally against the trajectory for air breaking even though I have no clue if that actually helps.

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At 2500m deploy chutes through the pictured group and wait until they open completely at like 100 meters or something. Try to keep the lander as straight as possible, deploy the docking port group highlighted in the picture and then the landing gear as soon as they have the space. Be sure to destroy all its parts before you touchdown so they wont damage you or tip you over. 

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If you land on a steep incline you can just revert to choose a better course, it didn't affect my challenge completion.

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Journey back to Earth is pretty straightforward, again navigate into the earth itself without orbiting and re-enter with the capsule.

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Hopefully this can help someone and do tell if you have questions, something can be improved or want to mention a major oversight I probably made, cheers <3

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BP: https://sharing.spaceflightsimulator.app/rocket/SSwOo2d\_EfGu6zvzpO1pRw

Venus Return Challenge Vehicle