If so, would they have the same pressure/temperature than of the surface of Venus? How could we "scan" the surface to gather that kind of information?
For reference, there are several images of lava tube "entrances" on the moon, (where they are much more visible due to almost no atmosphere) in the question Is there a map or list of all the lava tube skylights the LRO has detected on the Moon? as well as the answer there.
However, looking on Venus might be more of a challenge.