one of the meanings of "to steer" from collinsdictionary.com:
to steer - to direct the course of; guide:
I can steer you to the best restaurant in town.
Despite the definition given, the meaning of "steer" in this sentence is still unclear to me.
my variant (more convenient to me for analysis):
(1) John steered Mary to the restaurant.
What can (1) mean:
(1a) John helped Mary to get to the restaurant (e.g. drove her there) and stayed there together with her.
or
(1b) John helped Mary to get to the restaurant (e.g. drove her there) but himself might not go there (i.e. we don't know whether he stayed there with her or immediately went away).
or
(1c) John told Mary to go to the restaurant but himself did not go there together with her. For example, John and Mary were home, John told her to go to the restaurant, Mary went there, John remained home.
or
something else?