If your assumed goal is regime change from autocratic to democratic, they lost. If it was for stability in the middle east, the lost. If it was for oil and pressure on OPEC, I'd say they lost, but I would hear and understand an opposite argument (and change my mind).

They did not lose. They failed to achieve certain long term strategic objectives. Their military still mopped the floor with all of their enemies, inflicting millions of casualties before finally retreating for whatever reason, and they're only getting better at it by constantly maximizing the casualties per dead US soldier ratio.

It's not going to go well for Venezuela if the US attacks it, no matter the result of the war.