It is reasonably safe to leave an AES encrypted RSA private key public?
Based on skimming the relevant RFCs, I can't find any outright problems. Key derivation from the password is performed via PBKDF2, and best I can tell, the choice of cipher is left up to the implementation. As long as a good cipher is chosen, a truly random 30-character passphrase consisting of uppercase letters, lowercase letters, and digits should have roughly 178 bits of entropy. This is significantly higher than that of a 128-bit key, which is considered to be secure.

It still gives me a bad feeling that I can't shake. But as long as keys are only ever decrypted on trusted devices, I can't personally find a reason why it would be unsafe.

Not that this should be considered an endorsement by any stretch of the imagination.