At the same volume (OD and wall thickness) steel is definitely stronger, and Ti is always lighter since it has a lower specific gravity. Titanium's advantage is that can be stronger for the same weight.
Actually steel remains an excellent material for bike frames. Perversely, the main objection is that it's too strong, so steel tubes have thin walls, and it isn't practical to go the oversize route for stiffness since the walls become too thin (possible to buckle with your thumb).
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