A BMW mechanic suggested WD40... I have had very good luck with silicone lubricant. Some might say they are horrible and deteriorate this or that. However, I had an issue with my tint being too dark and it got peeled off the front windows to pass the inspection. That sucked. Anyway, it took forever to resolve the goo and squeaking at the top of the window seals. I used a combination of both. Now, both my windows go up and down at the same speed and the only thing that can be heard is the motor and the thhhhhp when the window engages with the top of the seal...
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A Venza just isn't the same as a ZHP.