Hyundai had a good reason.
For the 2021 model year, Hyundai has confirmed to Car and Driver its subcompact crossover will no longer offer a three-pedal option. For the 2020 model year, the Venue SE base model came standard with a stick but it has been dropped due to lack of demand. The CVT, previously optional on the SE and standard on the SEL and Denim trims, is now the sole gearbox across the line. So it goes.
The 2021 Venue's 1.6-liter four-cylinder with 122 horsepower and 113 lb-ft of torque carries over unchanged. Paired to the CVT, the 2021 Venue will return an EPA-rated 30/34 mpg city/highway. AWD is not available because it would hurt fuel economy and increase the price tag. Hyundai deserves praise for initially offering the standard stick as it probably knew beforehand demand wouldn't be significant. But still, the attempt was made. The Hyundai Veloster, Elantra, and Accent, meanwhile, keep their manuals for the new model year.
There's a chance that the upcoming Venue N Line will offer a manual, but this has yet to be confirmed. It all boils down to demand, plain and simple. Sales of the CVT-only-equipped 2021 Venue are now underway, beginning at a very reasonable $19,925 for the entry-level SE trim. Moving up to the SEL is still only $20,975 while the top-of-the-line Denim starts at $23,225. Like every new Hyundai, the Venue comes with a 10-year/100,000-mile powertrain warranty.
So far, Hyundai has had success marketing the Venue as an affordable new car as an alternative to a used car and this strategy is set to continue for the foreseeable future.