As reported to the FAA. Reports are unverified, and codes are left as the FAA publishes them.
What was found
DURING FLIGHT, EICAS MESSAGE STEER FAIL APPEARED AFTER GEAR EXTENSION. WENT AROUND, MESSAGE WENT AWAY AFTER GEAR RETRACTION. RAN QRH. ON SECOND APPROACH MESSAGE REAPPEARED. DECLARED EMERGENCY. NORMAL LANDING. EXIT RUNWAY USING DIFFERENTIAL BRAKING. RESET B25, STEERING RETURNED. NORMAL TAXI BACK TO GATE. MAINTENANCE REMOVED AND REPLACED THE STEERING CONTROL MODULE AND PERFORMED SOFTWARE UPLOAD AND ADJUSTMENT/TEST OF PEDAL SENSOR RVDT AND STEERING FEEDBACK SENSOR. ALL INDICATIONS NORMAL, WITHOUT FAULT IAW EMB 170 MM 32-53-01.