Retrieving and showing all that information is not straightforward, however it is definitely possible. Use stepinfo to get the information, and stepplot to do the plot since it is easier to work with than step.
This should get you started —
g = tf(1,[1,8.52,5.3,26])
si = stepinfo(g)
figure
hsp = stepplot(g);
Ampl = hsp.Responses.Data.Amplitude;
Time = hsp.Responses.Data.Time;
xl = xlim;
hold on
plot([1 1]*si.PeakTime, [0 si.Peak], '-.k')
plot([0 si.PeakTime], [1 1]*si.SettlingMax, '-.k')
sttmin = interp1(Ampl, Time, si.SettlingMin); % Interpolate To Determine This Specific Time
plot([-1 1]*max(xl)*0.05+sttmin, [1 1]*si.SettlingMin, '-.k')
plot([0 si.PeakTime], [1 1]*si.SettlingMax, '-.k')
hold off
text(si.PeakTime, si.Peak, sprintf('\\leftarrow Peak = %.4f V\n Time = %.4f s', si.Peak, si.PeakTime), 'Vert','middle')
text(max(xl)*0.05+sttmin, si.SettlingMin, sprintf('\\leftarrow Minimum = %.4f V\n Time = %.4f s', si.SettlingMin, sttmin), 'Vert','middle')
% get(hsp)
Tweak appropriately to get the result you want.
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