Amla flew home after the first test to be with his pregnant wife, while Steyn has been rested for the first two one-day matches of the five-match series.
Misbah says "I always feel that after such news, the (Pakistan) team gets complacent."
The series begins from Wednesday at Sharjah Cricket Stadium, which also hosts the last game of the series on Nov. 11.
Pakistan will be strengthened with the inclusion of the experienced Shahid Afridi, Mohammad Hafeez, Nasir Jasmhed and Umar Akmal. Fast bowler Wahab Riaz, rookie Sohaib Maqsood and wicketkeeper Sarfraz Ahmed are the others to join the team for ODIs.