Can IR sensitive cameras read signals from Venus's surface emissions?
Yes. A thermal image from the surface can be detected, even by amateurs.

The ground is heated to about 700K, and thermal emission at a wavelength of 1 micron is just about observable by skilled amateurs, with the right equipment. Mountains, which are cooler by about 30K, can be seen at this wavelength

From orbit, more details can be seen. Akatsuki used the 1 micron band to observe the surface in 2015

At other wavelengths, cloud patterns are revealed. Galileo took images at 2.3 microns during its flyby. They show sulphuric acid clouds at 50km above the surface (10km below the visible cloud layer) and at about 270K, with gaps exposing the lower atmosphere, glowing at 500K.