Querying two different post types with the same taxonomony

Didn’t test the following code but it should help you in the right direction.

$args = array(
    'post_type' => array('venues', 'events'),
    'post__not_in' => array($post->ID),
    'tax_query' => array(
        array(
            'taxonomy' => 'custom_taxonomy',
            'field'    => 'slug',
            'terms'    => $tags,
        )
    )
);