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tl;dr: a giant balloon filled with an atmosphere of similar composition to the Earth's can float in the Venusian atmosphere. Humans could live in such a balloon. This allows for all sorts of interesting possibilities in terms of colonization (floating colonies!).

At the same time, it is faster to get to Venus than to Mars, and Venus could become an interesting stopping point on the way to Mars.

This document does not argue that only Venus should be colonized, but that Venus could be a stepping stone towards a Mars colony.