Can vehicle pass emission testing with bad 02 sensor on Chevy venture?

No, a bad O2 sensor on a Chevy Venture (or any vehicle) will almost certainly prevent it from passing emissions testing. The O2 sensor is crucial for the engine's ability to properly mix air and fuel. A malfunctioning sensor leads to inaccurate fuel delivery, resulting in higher emissions of pollutants like hydrocarbons, carbon monoxide, and NOx. The emissions test directly measures these pollutants, so a bad sensor will cause the vehicle to fail.