It could have maybe gone a bit differently if the US government had resisted the urge to interfere, like in the bad old days of the cold war. They isolated Chavez and then Maduro, which backfired just enough to justify the slide into full-on dictatorship.

People voted for Chavez and then (at least once) for Maduro because the massive inequality was unsustainable. If the US had accepted that and worked with them instead of against them, maybe we'd be in a different place right now. But the interests of oil companies always come first, sadly. (obviously this does not absolve the Venezuelans from their responsibilities.)