I had this same issue on Ubuntu 16.04 and I got it working finally.
I had to get from Nvidia the CUDA driver .run file ( the .run file contains the 
32bit libs steam requires its a 2GB download)
https://developer.nvidia.com/cuda-downloads

disable nouveau (/etc/modprobe.d/blacklist.conf add blacklist nouveau)
reboot & run sudo init 3 (At login screen select F3 Key and login the run sudo 
init 3)
install sudo ./cuda-....run (It takes time be patient)
sudo reboot


After Steam is working

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https://bugs.launchpad.net/bugs/1784117

Title:
  Steam fails to start: glxChooseVisual failed

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