I think I'd buy some "junior" baby foods that have a good mix of vegetables in them, and some "junior" baby food fruit. Toddlers like blander foods (which may be why he likes the yogurt). Sausage isn't good for him anyway, and chances are whatever you're dipping it in isn't either. He's a little young to be chewing steak, no matter how much you cut up. Some of the junior foods have little dinners that have some meat, some vegetables, and maybe a little pasta in the them.
He's still little enough that choking or just general lack of interest are still factors, but you try something like banana slices or apple slices cut up. For fruit, you could try something like fruit cocktail or pears or peaches packed in light syrup. You could also add fruit to his yogurt.
Toddlers usually like peas or diced carrots. You could try canned, fresh, or frozen. Frozen or fresh are less mushy.
If he'll eat boiled, boneless, chicken use that; and maybe scrambled eggs or cheese as his main sources of protein.
Toddlers nearing two like routine, so having something like peas with dinner each night is something he'd probably like (if he likes peas, of course). I think I'd figure out which "mild" vegetables (even if crispy ones) he likes and serve a couple of them each evening. I'd probably add a couple of servings of milk, if he weren't eating much. I'd make sure he got a children's multivitamin.
Sometimes toddlers like something like chicken and rice with peas in it. They tend to like something like "o" pasta and chicken in broth (maybe with some carrots). If it were my child I might try a little pasta with cheese (and lima beans or peas in it); or pasta in a simple "cream" sauce (milk and a little butter) with something like small bits of chicken, lima beans, and maybe diced carrots. There's always something like a small service of "small" pasta (no spaghetti or big ziti pieces - something like mini penne or butterfly) with a mild tomato soup on it instead of sauce.
A lot of them like applesauce and apple juice (another serving of fruit). A small cup of orange juice and later a small cup of apple or grape juice would amount to two servings of fruit. (Yes, fruit juice has sugar, but so does fruit. You can buy the kind of juice that made from concentrate.)
There's always something like half a slice of whole grain brain, cheese, and maybe a little vegetable soup (made with vegetables and a simple broth). (You could make a container of it for him every few days, and serve it until you need to make it again.)