Are you talking about a human walking around with or without an Protective Gear? also is the make of the atmosphere the same as earth? 78% Nitrogen, 21% Oxygen and 1% other?
I'm going to presume "thick" is basically density
The density of Air at sea level is 1.225 kg per cubic metre, humans regularly breath at 5x atmospheric pressure (6kg/m3) when they go scuba diving, the density of water is roughly 997 kg/m³ and as a diver goes down 33 feet (10.06 metres) they add an atmosphere of pressure to themselves, the scuba gear they were in, specifically the regulators are designed to allow the correct amount of air from the tank for the pressure they are at. This is why divers must return to the surface very slowly, as they have been breath air at much higher density then their bodies can handle if not at the same atmospheric pressure. Do remember that the equipment is not designed to help them breath at these pressure as much as it is designed to allow them to breath underwater… at these pressures
So at your upper estimate: 5x the density, humans are able to breath perfectly fine, they would be limited slightly in terms of movement, only because there is more air resistance to push against.
However
The issues come from the science behind a planet being like this, for a planet to be the same size as Venus, but 5x the atmosphere, would mean either 5x the gravity, or the composition of the atmosphere being something other than what we have here on earth.
5x the gravity
This would mean the bulk of the core of the Earth which is Iron, would have to be Californium or Einsteinium or some other similar heavy, very radioactive and usually very rare elements, which at these pressures and quantities would probably be close to if not exceeding critical mass in some cases. A core made up mostly of gold or lead would make the planet roughly 4x as dense. With this greatly increased density would come the side effects, the planet would not spin as fast, if it did then it would completely shed its out layers or worse than that, it would have either a much weaker or completely non-existent magnetic field, exposing the inhabitants to solar radiation constantly.
Atmosphere
If the composition was different, then it would mean that certain PPE was required only because something like Krypton roughly is 5x the density of nitrogen, therefore make the atmosphere 5x as dense (Yes… I am generalising again) however if humans where to breath this then they would not be able to effective remove it from their lungs, so would not be able to take a full breath to receive enough oxygen. Among other issues, however there would be some good points krypton, is often used in lighting and lasers… so an electrical arc would be exceptional bright. Imagine a lightning storm on that planet!!! So if it was atmosphere composition then PPE would definitely be a must
If the reason for this happening is “it just is stop asking questions this is science fiction” then the only effect would be increased air resistance, that’s about it