Possibly, but only if BRICS support Venezuela. Which is unlikely.
The best time for Venezuela to have ruralized would have been yesterday. This is basically what Mao did with the Third Front campaign.
You guys are still thinking in pitched-battle terms. Keep in mind that US is very effective at dismantling a state, but absolutely terrible at state building even with a semi-competent government in Washington, much less the current one. Keep in mind that Saddam was far less popular than Maduro when the US invaded, as evident by the series of large revolts against him in the 90s. Did that make the US occupation of Iraq any less messy? Chances are once Maduro is toppled, Venezuela will become a festering sour for US if it chooses to station troops, since it cannot create a puppet regime that can assert effective control outside of a few districts in Caracas. In fact, even that may be difficult since only a single road tunnel connect Caracas to the coast. Caracas itself is sandwiched between two high, steep, heavily forested mountain ranges that favour the local defenders.
Moreover, Mexico is highly urbanized, but that doesn't stop cartels from running unimpeded through vast stretches of the country. Likewise, US effectively failed to control even large cities in a highly-urbanized Iraq despite with massive amount of boots on the ground; they needed to carve out a Green Zone in Baghdad precisely because they couldn't control the entire city. Let's not even start with outlying cities as Fallujah or Mosul during the US occupation. And that's with highly favorable, flat terrain instead of mountainous jungles of Venezuela.
China could make the US occupation immensely difficult simply through sending drones and other dual-use goods through Colombia and Brazil using routes already present in the jungles. How is the US going to stop the delivery of commercial Chinese goods to neutral South American nations? Blockading the entire South American Continent? That is far beyond the capabilities of the USN even if they divert every single vessel to that objective.
Also, keep in mind that Venezuelan military is underprepared precisely because the Venezuelan government since Chavez had been diverting funds to subsidize education, civilian goods, and groceries. Not saying that it was most logical thing to do, but if US wants to win the hearts and minds of Venezuelans it would need to turbocharge this program under the new puppet regime for at least another decade until the country stablizes. I doubt the current US is in a state to divert additional billions to propping up another South American nation.