If used by a taxpayer, is Form 2210AI (Schedule AI) among the forms automatically included in those forms printed for filing with the IRS?

Yes, the schedule is part of Form 2210 and will be included in the forms printed for filing.

I have the same question. 
The answer in this discussion does not relate to form 2210AI only to 2210.  Still looking for the correct answer to the original question. 

They are the same form.  Schedule AI is on page 3 if you use the Annualized Income method.

https://www.irs.gov/pub/irs-pdf/f2210.pdf