As reported to the FAA. Reports are unverified, and codes are left as the FAA publishes them.
What was found
STEERING INOP CAUTION ON TAKEOFF OUT TLH. PERFORMED QRH PROCEDURES CONTACTED ATC, MOC DISPATCH TO HAVE TOW WAITING IN ATL AFTER LANDING. BRIEFED FA'S AND THEN THE PAXS. DECLARED AN EMERGENCY FOR THIS EVENT AND HAD CFR STANDING BY FOR LANDING. CAPTAIN PERFORMED LANDING, ON 27R AS PER QRH LONGEST RUNWAY WITHOUT INCIDENT AND STOPPED ON RUNWAY TO BE TOWED TO THE GATE.