You probably won't find a lot of difference in build quality. Reliability, depends on how you maintain it. Both, Venture and Palomino are fairly new at building large travel trailers. Their parent companies (KZ and Forest River) have both been around for quite some time.
When you drag these things down the road, things are going to come apart, doesn't matter who put them together. Some roads are worse than others.
Looking at the floor plans, I would choose the Palomino. Looks like there is more room in master bedroom, and, you don't have a wall at foot of the bed. Palomino specs show a full size queen mattress. The Venture has that wall in the way for making the bed, and, specs don't say whether it is an RV (short) queen or full size queen mattress.
Specs for holding tank sizes are pretty much the same.
Weights are pretty much the same.
Appliances - Probably the same manufactures for water heater, furnace, refridgerator, air conditioner, etc.
I would do more research on warrantees (what is covered, and how long), insulation ("R" values in floor, walls, and ceiling), tank heat (if they say heated, how are they heated?), bypasses for winterizing (do they have them?), water filters (do they have them?), options, etc.
I had a trailer with an RV queen size bed and a wall at the foot. I could not sleep with my head touching a wall at one end, and feet touching a wall at the other. I'm only 5'8".
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