Rotate Local Space Vector to World Space with heading vector

I'm implementing an 2D obstacle avoidance behaviour where I will calculate a steering force relative to a target within collision range.

My agent does not rotate but has a heading vector which is the unit vector of the current velocity.

The steering force is calculated in the local space of the agent where the the heading vector lies on the x-axis.

I believe I have obtained the steering force that lies in the local space, how can I rotate it so that it's relative to the heading vector?

 public void ObstacleAvoidanceSteering(Collider2D other){        
         float closestDist = 0f;
         //check if closestCollider exist
         if(closestCollider2D != null){
             //compare distance
             closestDist = Vector2.Distance(transform.position, closestCollider2D.transform.position);
             float newColliderDist = Vector2.Distance(transform.position, other.transform.position);
             if(newColliderDist < closestDist){
                 closestCollider2D = other;
             }
         }else{
             closestCollider2D = other;
         }
         closestDist = Vector2.Distance(transform.position, closestCollider2D.transform.position);
 
         //calculate steering force
         float angle = Vector3.Angle((other.transform.position - transform.position), vHeading);
 
         float localXLength = Mathf.Cos( angle * Mathf.Deg2Rad ) * closestDist;
         float localYLength = Mathf.Sin( angle * Mathf.Deg2Rad ) * closestDist;
 
         float multiplier = 1.0f + (currentRadarLength - localXLength) / currentRadarLength;
         float steeringForceY = (other.bounds.extents.y - localYLength) * multiplier;
 
         float breakingWeight = 0.2f;
         float steeringForceX = (other.bounds.extents.x - localXLength) * breakingWeight ;
         Vector3 steeringForce = new Vector3(steeringForceX, steeringForceY, 0f);
 
         //TODO: Rotate vector
 
         rb2D.AddForce(steeringForce) ;
     }