I know this is old, but I needed the same thing so I hope this helps others in search.
I needed values from a previous Webform step for my custom Webform component. The _webform_redner_[component](...) hook doesn't provide the form or form_state, also the previous steps' data (more than previous step that was just submitted) isn't in the $_POST.
To solve this, I manually retrieve the form from Drupal's form caching system using the form_build_id which is in the $_POST variable.
/* ... */
$form_state = array();
// Get the form_state to pass on to our build function.
// Webforms doesn't provide it at this point so we'll need to manually get it using the form's build_id.
$form = form_get_cache($_POST['form_build_id'], $form_state);
/* ... */
You now have the entire form and form_state that also includes previous steps' values.