Good advice on using either leg as lead leg. This will allow you to never be intimidated or feel the need to stutter step. I was able to do this, and it helped in the steeple, too.
But let's remember one thing first and foremost - the 3k steeple is a DISTANCE RUNNING event.
Regarding hurdle form, just watch the Kenyans. Very few of them will ever win any kind of prize for beautiful hurdling technique or form. When we say technique, we're often referring to sprint hurdle technique, which is really a very different thing from steepling. In fact, using very good sprint hurdle technique during the steeple can often cost you a lot of energy. I'm surpised malmo hasn't commented on this yet, because he and I agree. Fundamentally, the Kenyans ARE good hurdlers for the steeple, even though it often looks ugly to us. Why? First and foremost, their center of gravity/mass keeps moving forward. Even though arms and legs may seem to flail, as long as the center of gravity continues in a forward arc over the barrier and with no slowing before or after the hurdle, this is good form for a steeple. So, it looks ugly, but they very very rarely ever slow before a hurdle from stuttering or have to re-accelerate after a hurdle. Look at Shaheen's form - terrible. The guy looks like he leans back the entire time he runs. And when he hurdles, his body is almost straight up and down. BUT, his center of mass always moves forward.