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The phrase "steer us" is grammatically correct and can be used in written English.
It is a phrase that means to guide or direct someone or something in a specific direction. Example: "The experienced sailor used his skills to steer us through the rough waters of the storm."
Exact(59)
I hoped that the machines the captain was using to steer us to the mainland were better maintained than these.
I feel like he trusts us more with every move we make in his spirit, so he doesn't have to steer us as much as he used to.
Yes, data can steer us wrong if we are not careful about how we use it.
Marchaisseau also seeks to steer us towards trance.
Our team will steer us through the fearsome thicket.
Why not have Jerome, a ready-jaded hopeful, steer us into Hollywood's dark vales?
They would help Europe learn to love us again, and steer us out of a Brexit.
And so I clutch the wheel and steer us resolutely back to land.
Asked to steer us toward the best lamb dish, a server chose a minimally spiced shank.
With no staging to steer us towards any particular conclusions, the plot gratifyingly thickens.
His job, in the stern, was to steer us back and forth across the river's breadth toward unobstructed channels.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com