The ideal gas law assumes that there are no forces between molecules of a gas, and that the size of the molecules is negligible compared to the volume of the gas.
When a gas becomes a liquid, these assumptions are clearly violated; and when it becomes supercritical, the density is typically still such that the second assumption is almost certainly not valid (although the molecules will have such momentum that the intermolecular forces no longer hold them together).
Therefore I am pretty sure a supercritical fluid does not meet the definition of a (near) ideal gas. If you get the "right" answer, you were lucky. For reference, here is the phase diagram:

image source: wikimedia
Obviously, at the surface of Venus you are way beyond the critical point in temperature... but the density seems kind of high for an ideal gas that was liquid at a little less than half that temperature.
Afterthought: if the supercritical fluid still behaves like a nearly-ideal gas, the partial volume occupied by the molecules must be relatively small. Yet, the density of the liquid is about 1.5 g/cc; with a molar mass of 44 g, that is about $2\cdot 10^{22}$ molecules per cc. That puts the volume per molecule at $5\cdot10^{-29}~\rm{m^3}$, which would correspond to a sphere with a radius of $0.23 \rm{nm}$. According to this answer, the size of a CO2 molecule is about 232 pm (from center of O to center of O). That suggests that they are quite tightly packed at that density, and it leaves me baffled as to why it should still be so compressible. Something to ponder...