I may be incorrect, but I don't believe Aerosmith and STP ever toured together. I know that Steven and Joe were onstage with them back in '96. Also I had heard at one point that Robert DeLeo had done some writing for Aerosmith that never made it to an album.
In fact, STP was invited to go on tour with Aerosmith back in '92/'93 as Core started to really take off. They turned down that slot choosing to do a more grass roots thing.
But I don't recall them ever touring together otherwise. I could be wrong.