<p>Titan has the closest density and makeup, being about 1.5x Earth's atmospheric pressure at the surface and primarily nitrogen, but it lacks oxygen and has a lot of toxic hydrocarbons in it.</p><p>Venus's atmosphere, I believe, has roughly the same amount of nitrogen and oxygen that Earth's does. It's just that because of the massive amount of CO2, Sulphuric acid, etc. that that nitrogen and oxygen make up less than 1% of the total atmosphere. Like Hal9891 said, it's about Earth pressure and temperature at 50km above the surface.</p><p>Mars is nearly all carbon dioxide and extremely thin. Not much of a match.</p><p>Jupiter's moons have mostly oxygen atmospheres from the interaction with the Jovian magnetosphere, or something like that. I can't remember exactly how it works, but I think that the magnetosphere liberates some oxygen from the mostly ice moons, given them a tenous oxygen atmosphere. </p><p>Mercury has an atmosphere composed mostly of trace gases. I can't remember the makeup.</p><p>Obviously the gas giants are different than Earth's, and as far as I know none have a "habitable zone" like the upper Venusian atmosphere. </p>