CRJ-900 First Officer reported failed steering inoperative message resulted in expeditious handling to a safe landing.

Narrative

Just after take off we had gotten a 'Steering Inop' caution message. I remained the Pilot Flying and took over the radios while the captain had performed the QRC/QRH procedure. Unfortunately; this had not fixed the problem. We had then contacted dispatch via ACARS on what the best decision might be; and had all agreed the best plan of action was to continue going to ZZZ1. Our reasoning behind it was the long runways and favorable weather (which was specified in the QRH) as well as having maintenance and operations at ZZZ1 airport. Once we had established our plan; the flight attendants were informed of the briefing items and we had decided to [advise ATC] to have priority for XXC and to make sure a tow team was on standby. The captain had taken control of the aircraft at cruise and we descended into ZZZ1 where he would perform the landing. After a smooth landing; he had full control of the airplane with the rudder pedals and elected to take the high speed turn off to clear the runway. Once we were clear of the runway on the high speed; we set the parking brake and made a PA for everyone to remain seated with their seatbelt fastened. We had then told ATC we were unable to move and would need the tow crew to move. The captain had made an additional PA to the passengers letting them know the situation. While waiting for the tow crew to arrive; the captain started to begin a procedure but by the time we found the correct procedure the tow team had arrived and was ready to hook up to the aircraft. We decided to not do the procedure and just have the tow team bring us back to the gate for an on time arrival.