To answer the question "what is the best steering mod for a 2010 SJ" it is my opinion as stated above to change out the pole, and steer cable to either a earlier 96-07, or aftermarket RRP, etc.
Personally I do not like just changing the cable to an earlier one, with a different mount bracket. We HAVE done this here and again IMO is a little sketchy, and not something I want to put my name on.
I do have our own quick steer, steering systems. These are short plates, with bearing mount. Doing this and then drilling and moving the cable in at the steering nozzle is a good cost effective, safe mod that works very well.
Here is my steer system;
RCJS Steer System (watcon.com)
I do also have std length plates, if you wanted that type.
Here is a pic of the steer cable bracket you would need to make, and adapt to your 08-later pole to run a 07-earlier cable. Again, It is MY opinion this is not a good idea.......