Cash between friends is not illegal. Venmo, for lots of people including me, just replaces cash for paying your friends back. That's even their #1 example they have on their website for why you might use Venmo.
There is no agency or anyone in charge of asking what I'm spending the money on when I give my friend a $5 for lunch. If Venmo wants to replace that experience, they can't refuse the payment because they think I'm suspicious and expect to keep my business.
I understand the pressure they are under as a payment processor. But the alternative to Venmo to keep payment privacy intact is not illegal, it's just plain old cash.