An air carrier Captain reported landing with nose wheel steering failure resulted with tow to the gate.

Narrative

ZZZ1-ZZZ today we had a STEERING INOP caution message shortly after leveling off at FL280. We ran the QRH which called for turning of nose wheel steering and making a plan for landing on a long Runway. We briefed the [situation] and planned to land on Runway XXL in ZZZ with the intent of rolling off on the high speed Taxiway 1 where we would stop and try a system reset in hopes we could taxi back normally to the Gate. We coordinated with dispatch; center; and approach informing everyone of our system issue. We were initially given XXL when we checked on with ZZZ approach. When we switched to final control the Runway was changed to Runway XYR. We briefed and prepared the change. The only difference was Runway XYR doesn't have a high speed Taxiway which we thought would support us taxiing off the Runway. To this point we had not [requesting priority handling] since we did not feel there was any level of increased risk. However when given our turn to intercept the XYR localizer tower informed us they were [requesting priority handling]; rolling the trucks; and asked for pax/fuel information. We executed a normal landing on XYR and as we approached Taxiway 2 I started to determine how much steering control there was in hopes of exiting the Runway using rudder/braking. Based on the limited controllability I decided to stop on the Runway to run the system reset. The system reset failed so we were towed to the Gate. Suggestion: Every CA (Captain) should be required to experience a STEERING INOP in a sim event and be forced to taxi without steering. After talking to another CA it was stressed almost casually dismissed as an easy operation to taxi using differential braking and thrust which today it did not seem to be as easy as all that to control.