The answer is significantly dependent on how much aerodynamic pressure and heating you can tolerate, and whether it's possible to achieve high specific impulse from a rocket engine exhausting into Venusian atmosphere.

At 10km above the Venusian "reference altitude", a speed of only 46 m/s (~100 mph) puts you at a Q of 39.5kPa -- a little higher than "max Q" of most Earth-orbit launchers. If your Q limit is on that order of magnitude, it's going to take you a very long time to get out of the Searing Black Calm, which means you're going to lose a lot of delta-v to gravity -- it takes about 8 minutes going straight up before you can even think about pitching over into a gravity turn.

At least one person has estimated the delta-v to reach Venusian orbit at 27km/s, but they did not provide much detail on their methodology.

By having elfin engineers provide a magical rocket engine capable of ~240s specific impulse when exhausting into 60 atmospheres of pressure, I was able to reach orbit in my home-brewed simulation, lifting off from Maat (to save me 8km and 30 atmospheres of vertical suffering), with about 15000 m/s of delta-v. Max Q achieved was 55 kPa.