Yes, but not exactly the way you have it here. If someone "steers you away from something" they are pushing you to do or say something different. So the usual usage is something like "My wife steered me away from buying the expensive sports car because we didn't have the money." In your example, you need the thing from which you are being steered away. This would work: "I am getting steered away from speaking my mind by people who feel I will say something rude." I hope that helps.