To "steer" is to control the direction of something, to direct it, like "dirigir." You steer a car with a steering wheel. You steer a ship with a rudder. "Clear" can have the meaning of "empty space between things." Imagine a truck 4 meters tall. Imagine it driving under an overpass (bridge) 5 meters high. It has 1 meter of "clearance." It "clears" the overpass by I meter. To "steer clear of" means "to steer around something leaving a safe amount of free space." Figuratively, to "steer clear" of something can mean "don't get close to it, it's dangerous." For example, suppose you are going to a family Christmas dinner. You belong to one political party. Your uncle belongs to the other party. Your friend tells you "we don't want any arguments. Please steer clear of politics tonight."

"Steer clear of [something]" means "stay away from [something]". But it rhymes so it sort of poetic!