He triggered the 10-year bar when he left at age 19. He needs a waiver to be granted before he could return based on your petition and extreme hardship.
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What year did he return to Venezuela? It appears that he began to accumulate unlawful presence in the US beginning with his 18th birthday. If he left the USA at age 19, then he appears to have triggered a 10-year bar, meaning that he must spend 10 years outside the USA, unless he is granted a waiver. If he has an approved I-130 from his US Citizen wife, then he may apply for permanent residence, go to an interview at a US Consulate overseas (presumably in Venezuela), and then submit an application for a waiver. USCIS typically makes decisions on waiver applications in approximately 4 months. If he is granted the waiver, he will be allowed to enter the USA as a permanent resident. You should definitely consult with an experienced immigration attorney about this case.
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