Choice "D" is correct. A joint venture is like a partnership. A partnership or joint venture can be formed without filing any documents with the state.
Choice "c" is incorrect. Formation of a limited partnership requires the filing of a certificate of limited partnership with the state.
Choice "a" is incorrect. A limited liability company may be formed only by filing articles of organization with the state.
Choice "b" is incorrect. A corporation, including a Subchapter S corporation, may be formed only by filing articles of incorporation with the state.