Most of the energy the Earth receives is dissipated in the oceans. Very little is used to heat the interior. Back when the Moon was much closer to the Earth, the tidal heating on both bodies would have been more significant, but the Moon has receded so far away that it's not that important now.
The bulk of the Earth's (and Venus's) internal heating is the result of the decay of long-lived radioactive isotopes in the mantle (K, U, Th), and heat leftover from the accretion and differentiation processes. Assuming the solar nebula had similar compositions where Venus and Earth formed, then they ought to have similar amounts of radioactivity. Venus may have actually retained more of its accretionary heat, since it lacks plate recycling, which is a very efficient way for the Earth to cool. Less that 1% of the Earth's heat flow is from volcanoes. We don't actually know Venus's long-term tectonic regime. Currently it's lithospheric conduction, which is very inefficient. But the relatively young (~ 700 My) surface age suggests it must have resurfaced somehow.
As for TFA, I'm quite skeptical. Plate tectonics on Mars has indeed been investigated before. In the nineties, the hemispheric dichotomy was hypothesized to be a plate boundary. But the rest of the geological evidence was not convincing, and I don't think it ever gained much support. In the late nineties / early aughts, there were measurements of stripes of crustal magnetism in the southern highlands, a pattern similar to the magnetic reversals on Earth's seafloor. This brought up the idea of seafloor spreading, but the Martian stripes are much larger, and it's hard to see how this would occur in the thickest part of the crust.
The primary evidence for left lateral slip in TFA seems to be an offset impact crater. But I don't see it. The southern edge does look vaguely like an arc, but I see nothing on the northern side resembling a crater rim. The floor of the putative crater is the same depth as the rest of the Valles. I wouldn't expect that if this was actually an impact feature. I also don't see how lateral slip would result in such a wide rift. I think it's more likely this is actually a rift; extenison driven by loading of the lithosphere by Tharsis.
Further evidence presented is the linear arrangement of Arsia, Pavonis, and Ascraeus Montes. This has previously been suggested as evidence for hotspot volcanism. But here we have only three giant volcanoes instead of the dozens in the Hawaii-Emperor seamount chain. So if it's a plate moving over a hotspot, it's very puncutated. Moreover, the direction of motion would have to be perpendicular to that required for lateral movement along Valles Marineris. Furthermore, the linear pattern of the Tharsis Montes is only remarkable when you exclude the two large volcanoes that don't fall on that line: Alba Patera and Olympus Mons.