Dynamic beam steering with unlimited angular range and fast speed remains a challenge in the terahertz gap, which is urgently needed for next-generation target tracking, wireless communications, and imaging applications. Different from metasurface phased arrays with element-level phase control, here we steer the beam by globally engineering the diffraction of two cascaded metagratings during in-plane rotation. Benefiting from large-angle diffraction and flexible on/off control of the diffraction channels, a pair of metagratings with optimized supercells and proper orientation successfully directs the incoming beam towards any arbitrary direction over the transmission half space, with the steering speed improved more than twice that of the small-angle diffractive designs. Single-beam and dual-beam steering within the solid angle of $1.56\pi$ and elevation angle of $\pm 77°$ has been demonstrated with average throughput efficiency of 41.4% at 0.14 THz, which can be generalized to multiple-beam cases. The dual diffraction engineering scheme offers a clear physical picture for beamforming and greatly simplifies the device structure, with additional merits of large aperture and low power consumption.