2010 venza timing chain change or valve adjustment

Which engine is in your Venza? My sense is that the valves do not require adjustment, as I believe you have hydraulic lifters doing the job. The timing change should be installed for the useful life of the engine and should not need replacement. I'd recommend an experienced technician near you has a listen to the noise and provide advice. Use this link to find some shops near you that can help with your concern: www.repairpal.com/repair-shops