They have had fraudulent elections for the past two decades. Let's not be naive and think fraudulent elections are something we care much about, especially not Trump.

Also, Guaido made himself president. There was no election for the presidency. Guaido was elected president of parliament by the national assembly and then declared Maduro's election illegitimate and assumed the position of acting president. Not exactly democracy there either and was little more than a coup. The dude offered amnesty to all military personnel that helped him unseat Maduro. We immediately recognized Guaido as president despite that being far from clear. We very likely were helping fund some of his efforts.

It is basically a stalemate and there is essentially a truce for the last couple years.

No, the real reason we have bad relations with them is because they have been hostile to oil companies and have cozied up to governments hostile to ours.

The Venezuelan government is garbage and has been since Chávez. But let's not kid ourselves and try to portray our sanctions are coherent considering some of our relations with other shit regimes.