As reported to the FAA. Reports are unverified, and codes are left as the FAA publishes them.
What was found
SHORTLY AFTER DEPARTURE, THE CREW RECEIVED A NOSE WHEEL STEERING INOPERATIVE CAUTION MESSAGE. AFTER FOLLOWING THE QUICK REFERENCE HAND BOOK THE CREW DECLARED AN EMERGENCY, AND LANDED WITHOUT INCIDENT. MAINTENANCE REPLACED THE LANDING GEAR SELECTOR VALVE.