I would say this is not necessarily at odds with Voyage to Venus. Not only was it set sometime long before the Doctor came to Venus The Venusians already had Radical Evolution.
Also the "Venusians" were humans and Had not yet creted the Lullaby yet.
I love the idea that....
ok here are some theories! Because this is a fun piece of scifi.
Going Natural this could be the V2V Venusians after 1000s of years of further Evolution.
They could be native Venusians who were either on the other side of the planet in hiding or had their own Evolution to where they are now the dominant species.
Or instead of Dominant species perhaps after seeing that strangers can be helpful and Kind(v2v) these native Venusians interbred and evolved with the v2v Venusians Ending up in this form!
Even more: (!)
The Drex Venusians were refugees who settled on Venus anytime before or after v2v and like above Evolution or interbreeding etcetera.
Perhaps the DNA mutation we saw in this story had a affect on descendants.
It was definitely a bold story. And the best scifi mkes u think. 40 minutes and I am thinking of complex Evolution, timelines, and that he must return one more time to learn the Venusian lullaby:)
But I think ir is great because it allows u to think about so many explanations on how other stories differed.
Also as a genderqueer gay girl I loved Victoria in this. Nobody was repulsed or put off by Victoria's deep voice or any reductive snark about her not being lady like. It was a wonderful tribute toMsWatling. Many scifi stories where a woman acts or sounds more masculine have lots of snide comments and if it is temporarythe character is utterly traumatised and will often say stuff about her makeup, not being able to get married etc.
Nothing will beat Dumb Waiter for the best posthumous Victoria story(well for one without Deborah anyway!) but I really liked her characterisation here. She was neither Desperate to "return to normal" nor was she horrified at who she had become.
I also got the idea that although Victoria probably would not have wanted to keep the new voice she actually enjoyed the changes even more than Jamie.
And the villain of the piece was female! Big Finish iis becoming more and more of an example of what stories storie and characters should look like in an inclusive world and This year's short trips have been really top notch.