A CRJ900 flight crew experienced Master Caution 'STEERING INOP' after takeoff. They ran the procedure; declared an emergency; and requested a long runway at their destination.

Narrative

Upon takeoff; experienced a Master Caution message 'Steering Inoperative' after the gear was selected to the up position. I was the pilot not flying. Once we reached a safe altitude on climbout; I ran the Emergency/Non-Normal checking for the 'Steering Inoperative' message. After completion of the checklist; the Captain and I assessed the situation and; with guidance from the checklist; determined that we would require Runway XXL upon landing at ZZZ. I advised Center that we would require Runway XXL for landing at ZZZ. The Controller advised us that due to traffic; ZZZ Approach could only accommodate us if we had an emergency. At that time; we decided to declare the emergency for the safety of the flight. At that point; the Captain transferred the controls to me while he notified dispatched via ACARS of the situation and the Flight Attendants as well. After the Captain took back control of the aircraft; we completed the Descent and Approach checklist to minimize the workload in the terminal area. Approach gave us vectors for Runway XXL; the landing was uneventful. The Tower asked us to come to a complete stop on Runway XXL short of Runway XY for a medical emergency crossing the runway downfield. We exited the Runway XXL left on the high speed to minimize the having to make sharp turns with the minimal steering capability. Due to the difficulty steering with brakes and thrust; the Captain requested to hold short of the taxiway's intersection so that company can come out and tow us to the gate. We were towed in to the gate without further incident.