Granted! A VSRM would be very expensive [easily well over a billion dollars or Euros to develop].
It would be very difficult, I confess, but doable.

Not only would be it be doable, but it would provide down-to-earth technological "spinoffs"
that would be of benefit to the average guy on the street.
For instance: A VSRM project would need...

(1) To develop acid-resistant paints [those living in places where acid rain occurs would be grateful] to protect the exposed VSRM spacecraft modules and components, where gold-plating can't be done.

(2) Flywheel power-storage technology [solar panels would be problematic in the corrosive Venusian atmosphere; radio-isotopes for electric generation scare too many taxpayers].

(3) Automated [remote] vehicle retrieval technology. [The actual armored capsule containing
recovered Venusian rock samples would be robotically snagged and captured by an unmanned
airship in the upper Venusian atmosphere; it would have "down-to-earth" applications for
advanced search-and-rescue in inhospitable Earth locations. eg., violent ocean storms]

(4) "Portable refrigeration apparatus" needed to keep vulnerable electronics cool in the Venusian
atmosphere for days and weeks, where cyrogenic volatiles would quickly run out. It would have terrestrial applications too: Imagine a portable deep-freeze refrigerator, with a small but powerful energy source, both the size of a lunch-bucket, to keep vaccines chilled for weeks
in the tropics, etc.

OK! Here's my suggestion for the technological outline for a VSRM project.

(a) Make the VSRM a joint NASA/ESA/RKA project, using either the Atlas V, the Delta IV
or Ariane V or Angara rocket to boost the large VSRM payload into Earth-orbit [where ion-propulsion can send it on its way to Venus].

(b) Arriving at Venus, the large VSRM spacecraft will aerobrake into Venusian orbit, first.

(c) The Venus-orbiting VSRM would separate. One small module would remain in Venusian orbit
to serve as a com-relay.

(d) The other three modules [linked up] would enter the Venusian atmosphere where the larger of the three linked modules would inflate in the upper Venusian atmosphere to become an robotic semirigid airship [with duct propellers for propulsion and steering]

(e) The smallest of the three linked modules would be the spherical armored robotic-lander/sample collector. It would be released from the robotic airship and descend to the
Venusian surface where it will drill out a core sample, store it, and then deploy two duct-propellers to ascend back up to the altitude where the robotic airship would be waiting to capture & retrieve it.

(f) After successful retrieval of the capsule by the robotic airship a robotic arm on the airship
would draw out the core sample from the capsule and transfer it into the payload-module on a 3-stage winged booster rocket slung beneath the robotic airship.
[The 3-stage winged booster would resemble the "PEGASUS" booster, used to boost payloads
into Earth-orbit, but would be smaller and could be gold-plated for acid-resistance and thermal reflection]

(g) The robotic airship would release the slung winged rocket-booster, which would fire up and boost the small payload module [with its precious Venusian core-sample] into low orbit
around Venus.

(h) The small payload-module would detach from the spent winged booster and deploy small solar-panels and a small high-gain antenna. And then an ion-rocket propulsion system attached
would boost the small payload module and its core-sample to Venusian escape-velocity
over a period of months...and head back to Earth.

I say it's doable.