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,
)
)
);