Chefs and the cooks who know their way around a kitchen (or a grill) know how meat feels when it's raw and when it's cooked. The only way to learn this is to basically poke the steaks at different stages of cooking. Raw meat is almost squishy, rare meat is quite soft, medium rare meat resists your poking a bit, and medium meat springs back. Once meat feels firm, it's at least well done, if not completely overdone. Gently press a finger onto your steaks—being careful not to burn yourself—to teach yourself the difference.
These are the workhorses of your cooker and because they come in direct contact with your food, they need to be clean. Start by removing the cool grates and wiping or brushing off as much of the big, loose debris as you can with a mesh or nylon scrub pad or a brush. In a sink or large bucket, mix up a sudsy solution of a grease-cutting dish liquid, like Dawn, and hot water and place the grates in to soak. If they don’t completely fit in, immerse one half, soak, then flip it over to get the other side. After soaking 15 to 30 minutes, put on some rubber gloves (like GH Seal holder, Playtex) and scrub the grates clean with a sturdy grill brush or scrubbing pad. Take extra care with porcelain grates, because you don't want to damage them.
Check the ignition system. Turn the gas off, and test your ignition button to see if it creates a spark. If both the pressure regulator on the gas tank and the ignition system are running normally (meaning the pressure regulator is tracking and maintaining correct gas tank pressure, and the ignition system is sparking and lighting correctly), you can finish testing the grill by turning the gas back on and lighting the grill up as you normally would.
Yes, you should touch the steaks to test for doneness, but that doesn't mean that you should be flipping and moving and poking a lot. Steaks should only be flipped once, and only moved once from a higher to a lower heat. And don't poke them with anything but your finger! Put the meat on a hot grill—they should sizzle immediately—and leave them there until they release on their own accord. If you're pulling or struggling with them, they are not seared and not ready to flip.