It would be physically possible, but there's no practical way to do it just with chemically-propelled rockets. The extremely high density of the atmosphere caps the top speed of the rocket until it's at high altitude, exacerbating gravity loss, so you'd need a ridiculous propellant mass ratio. (At only 100mph, the dynamic pressure at low altitude is comparable to the supersonic max-Q of a terrestrial rocket launch.)

What could conceivably work would be to use balloon ascent to get up to a high altitude "for free" and then use a chemical rocket from there. Designing and engineering something that can land, collect samples, inflate a balloon in the Venusian surface environment, and conduct an interplanetary launch from there is left as an exercise for the reader. //

@jwenting don't forget being chemically resilient to sulfuric acid at 700 K