How could Venezuela legally be annexed by the U.S.?

Following recent statements by President Donald Trump about a possible annexation of Venezuela, the topic has sparked debate and divided opinions both in the United States and within the Venezuelan community.

Legally, the U.S. Constitution does provide mechanisms for adding new territories, as happened in the past with Alaska and Hawaii. However, for something like this to happen, there would typically need to be an agreement from the territory involved, as well as approval from Congress and the President of the United States.

Even so, many believe this is currently highly unlikely due to political, immigration, economic, and social issues, including debates surrounding TPS, humanitarian parole, deportations, voting rights, social benefits, and other important factors.