OR, it depends on the type of steel and titanium alloy, a Stanley blade could be harder than the alloy used in a bike exhaust.
Once the black marks and exhaust are cold, I've used the concrete cleaning lance - the arrow-head attachment with a pinprick jet - on the Karcher pressure washer before now with excellent results
So, although titanium is in general harder than steel, the hardness varies according to the particular alloy and there is an overlap, so some steel alloys are harder than some titanium alloys. Good to know, thanks Denzil