Maduro was indicted in 2020, so seizing him will be legally defended as simply executing an arrest warrant. In that respect, the seizure of Maduro may be lawful on that basis alone if the procedural i's were dotted and t's crossed. Congressional authorization would be more of an internal political issue rather than impacting Maduro's rights.
After reading many of this person’s posts, it has become abundantly clear to me that he is a never Trumper.......if you review the “in forum” posts you will find many of them are pro rand paul and critical of President Trump.