VERITAS is a NASA Discovery mission launching in 2031 or later. It will acquire the kind of global, high-resolution, foundation datasets that are needed to bring the study of Earth’s twin planet into the 21^st century. The high-resolution topography, radar imaging, and gravity field data have all transformed our understanding of the terrestrial planets, are needed for comparative planetology. Additionally, VERITAS will acquire first a kind data for Venus: rock type mapping, core size and state, and surface deformation via repeat pass interferometry. Many different approaches (change detection, chemical weathering, thermal signature of active flows, and outgassing water detection) will be applied to identify current volcanic and tectonic activity. VERITAS will study processes that occurred on early Earth (subduction as the start of plate tectonics, continent formation) on Venus, where they may still be in a nascent phase.