We derive an inequality that is necessary and sufficient to show Einstein-Podolsky-Rosen (EPR) steering in a scenario employing only correlations between two arbitrary dichotomic measurements on each party. Thus the inequality is a complete steering analogy of the Clauser-Horne-Shimony-Holt (CHSH) inequality, a generalization of the result of Cavalcanti et al. [E. G. Cavalcanti, C. J. Foster, M. Fuwa, and H. M. Wiseman, JOSA B 32, A74 (2015)]. We show that violation of the inequality only requires measuring over equivalence classes of mutually unbiased measurements on the trusted party and that in fact assuming a general two-qubit system arbitrary pairs of distinct projective measurements at the trusted party are equally useful. Via this it is found that for a given state the maximum violation of our EPR-steering inequality is equal to that for the CHSH inequality, so all states that are EPR steerable with CHSH-type correlations are also Bell nonlocal.