It's difficult to tell from your simulation, but I get the impression that from Venus the Earth and Moon would probably be clearly visible to the naked eye as two very bright separate objects. Wouldn't take much observation over time to see that the Moon obviously revolves around the Earth, and without the telescope Galileo needed to observe the moons of Jupiter.

Had we on Earth had such a blatant naked-eye example of the Copernican universe hanging in the sky since the beginning of time, the history of astronomy would have been a lot different.

Wonder if the moons of Jupiter would be naked-eye objects from Mars under ideal closest-approach conditions?