Thank you everyone for your suggestions. Actually, it's my parents first trip to Europe and they wanted to see Venice for once, so I thought to do it even if we have just a day for it.
I didn't know the overnight train had so many stops. Thanks to Christine, Kathy and Joe for pointing that out. Decided to skip it.
So, have booked this tour for the four of us:
https://www.getyourguide.com/rome-l33/day-trip-from-rome-to-venice-with-high-speed-train-t44418
They tell me we reach Venice station at 11:30 am and we will leave Venice by 6:30 pm. This isn't a guide tour and covers just the train tickets, a one-way waterbus ticket and a tour leader (not guide) for assistance.
Now, in terms of reservations, should we reserve a private Gondola Ride like this one .. https://www.getyourguide.com/venice-l35/private-gondola-ride-up-to-6-people-t169207
Or should we buy a shared ticket? Are there any recommended providers?
Blockquote St. Mark's Basilica has a daily mass
Thanks, Julie. So, we can just get in directly? Are there published timings?
Blockquote The Peggy Guggenheim opens at 10am, and at that time I stood in line for about 20 minutes to buy a ticket and get in.
Is this worth doing in this compressed day?
Blockquote The vaporetto app Che Bateo, and the interactive vaporetto map are all useful.
Thanks, Nancy.
Blockquote Any chance you could come back to Italy in the future and 'do' Venice on a less compressed schedule?
Yes, I think we would come again, thought it might not be with parents the next time around. This trip is largely for them. :)