The fix is quite easy.
AJAX calls will nor load wp-seo-non-ajax-functions.php thus wp seo does not provide wpseo_title_test() used by wpseo-functions.php
Simple diff would be
– 402 wpseo_title_test();
+ 402 defined(‘DOING_AJAX’) and DOING_AJAX or wpseo_title_test();
Bug does persist in 1.2.2 and trunk.