I think I've found a good hack for building steel structures in Fusion 360 and the lack of a steel shape library.
The first, unfortunate step is to build your own library by creating new files in a separate folder. The parametric features of sketches make this less painful for doing shapes like rectangular tubes, draw one and just change a few critical dimensions.
Another important step is to use some construction lines to capture the intersection points of face planes intersections (e.g theoretical corners) so you don't have to snap to radiuses or exclusively centerpoints. Turn the sketch back on after you're done.

Now extrude that profile some short arbitrary length (say 1"). Save the file, then do a save as for each different profile, changing dimensions accordingly. Don't forget to write the material description in the properties box, this will make for nice clean Bill of Materials later.

After creating your library this is the workflow to insert steel shapes:
- Drag and drop selected shape into to your drawing. (Note: I really like to snap to sketch geometry points of my frames, so I can modify dimensions and positions later).
- Break the link, rename the component.
- Use the sketch features as snap points when moving your object to the correct point in your drawing.
- Now just use extrude to extend your components profile to the correct length. This can be either by activating your steel component and editing the extrusion length, or by simply extruding the end face within your top level component.
- When you are all done lock your components into a rigid group if applicable.

Now if you have multiple occurrences of that same length of steel you just created, you can simply copy the component around. This is great for your BOM showing multiple quantities of similar lengths, see the highlight example BOM below.
I didn't add a field for cut length, which would be a manual process unfortunately.

At first attempt this seems to work well for me, with the profile sketch as part of the individual component and not any of your top level components makes for a very nice clean workflow.
Here is an assembly I am in the process of. I used sketches to define my geometry based on measurements of an as-built frame, while I drew rectangles of the width's single line representations could have also been used.

If anyone has any feedback or ideas to improve on this please let me know!