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Since aeroscoop satellites experience drag every time they scoop up gas, they need some way to regain speed. The simplest solution is to use solar power to power an electric thruster; the thruster uses scooped up gas. However, it may also be possible to play games with a moon to steal energy from the moon. Mars has such moons; Venus doesn't.
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I wouldn't think Mars's moons would count for much in the gravitational scheme of things. (a 13 km and 20 something kilometer rock?)
And electric thrusters seem too slow. You would have to lift your orbital profile above the atmosphere within the course of a single orbit (a few orbits max) to pull out in time, or you'd be spiralling in.