The Steelers won that game because they were tougher and more physical finishing plays than the Ravens were.
The sharpest example is the pass to Justice Hill that Steelers linebacker Payton Wilson wrestled away for an interception. The play was schemed up; Hill beat his coverage; Lamar lofted a nice-enough pass. Maybe not an absolutely pinpoint perfect pass. There’s a version of that pass where Hill doesn’t have to slow and jump for it; instead he catches it in stride and goes steaming down the sideline. But Lamar definitely lofted a nice pass.