I have never seen "Step 2.1" appear in any official Sega documentation, but I haven't looked closely.
There are however certainly two different revisions of the Step2 video ASICs. The actual bare PCB itself is the same partnumber.
However some of the ASICs have slightly different part numbers. I have one of both, just can't dig it up right now. It might've been the Venus/Earth asics. I swapped them between Daytona2 and both worked fine. However, I don't know if using one in place of the other causes jtag errors where it wouldn't otherwise.
I dug out my extra video board, which has some weird failures. The 2d layer works perfect, except it's too bright (probalby MSB of all bits stuck high). The 3d layer is completely corrupted, but oddly enough I can see faint traces of cars on the track moving in the noise! So I think there may be some weird failure in the Jupiter chip. Self-test reports Texture memory 00 error, just like yours. Here are the jtag errors on my board:
https://i.imgur.com/4KuxjD1.jpg
As for repairs,
You're looking at around $180 for a hotair station that wont light your house on fire (Aoyue 968+, and half that again for a passable iron. Basically, you'd hot air in a loop over the ram pins and carefully lift it with tweezers. Then you'd get some decent solder wick and clean off the old pads so they're flat but without lifting the pads off the FR4 or ripping traces.
Finally, make sure the new chip's leads are completely flat (can be fluxed and wiped off with the iron) and then flux the preped pcb pads. Then place the chip on, tack the 2 corners and drag solder.
Chip packages are designed to withstand a fixed number of reflow/heat cycles. Typically for modern chips that's 3 cycles.1 bottom reflow, 1 topside reflow, and allowance for 1 rework cycle. After that it's all up to fate, usually you will be ok, but the fewer the heat cycles, the better.
I would get some old trash video cards and try hotairing the old ram chips off, cleaning the pads, fluxing and cleaning off the TSOP chip pins, soldering back on and cleaning. Flux and 91% alcohol.
I can do it for you no charge if these donor chips I got off ebay end up working - will try swapping them onto one of my working boards.