I was able to do this via the standard WordPress export function (under Tools). You can export to XML, then load the file into Excel to a database for further cleanup. You can specify if you want custom posts exported or standard post types.
In Excel I used a pivot table to get a list of all venues without doing any manipulation. I was also able to see all my venues and which ones were missing data (such as google maps coordinates etc).
This is not the best method but that is all we have really.