Last year, NASA had a public challenge for teams to submit designs for Venus rovers. The winners were announced in July[0]. The designs are pretty interesting!

As far as planned missions go, a proposal by the Goddard Space Flight Center for a 2021 Venus atmospheric probe called DAVINCI+ was shortlisted in February 2020 [1], but was waylaid in favor of asteroid probes Lucy and Psyche[2].

[0] https://www.nasa.gov/feature/jpl/nasas-venus-rover-challenge...

[1] https://www.nasa.gov/feature/goddard/2020/nasa-goddard-team-...

[2] https://www.nasa.gov/planetarymissions/discovery.html