Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Americans pronounce steer as STEER (/stɪr/). You'll hear it in sentences like "Appear to steer clear of the deer".
Record yourself saying "steer" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 3 sounds. Explore each sound's mouth shape and how it's made.
Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Touch the tip or front edge of your tongue to the roof of your mouth just behind your teeth. Keep your jaw relaxed. Stop the air, then release with a puff.

Start with the high 'ih' position. Pull the tongue back and up while flaring the lips slightly.
The textbook way isn't wrong — it's just not how anyone actually says it.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.