And there are always exceptions. If you inherited it, though, as a peaceable guy, why did you decide to keep it? From your description of yourself and your life, it seems an odd thing to keep. This type of weapon is the antithesis of peaceable.
As you say yourself, you COULD use that AR-15 to do very violent acts. The fact that you choose not to is laudable, and I sincerely hope that you never suffer an emotional or psychological breakdown that could prompt you to commit such acts. I find that many gun owners demonstrate a certain smugness, in that they are so law abiding and stable that they are immune to mental illness or emotional breakdowns, along with the erroneous belief that keeping guns in safes renders them theft proof.
My intent is not to accuse you, or any individual of "an offense", but to urge folk like yourself to rethink their motives for owning these weapons. OTOH, I would prefer you keep it than sell it to someone who may be more prone to use it. In your situation, I confess I would be tempted to keep it. After all one never knows what the future will bring. I'm glad I don't have to make that choice.
Peace. 
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