What type of oven is it? I've honestly never heard of removing the racks. I've always run the self cleaning with the racks attached. Unless it is some high dollar oven, I would think you would be fine.

I always leave the racks in. They need to be cleaned too.

Some ovens tell you to remove them but I think the only damage is that they may not slide as smoothly although I think you can apply a little oil and they should be fine.

If they "burned" as you say, you can try cleaning them but frankly I wouldn't worry about the appearance.

In doing research for our new house, we inquired about this. Wolf tech
support told us that they and other companies suggest removing the
racks because the high heat in the self-clean function will scorch/mar
the racks. But this is simply a matter of appearance, not function.

GE racks, on the other hand, are porcelain coated, and can be left in
during the self-clean cycle. The coating protects the racks from any
damage.

So, you can still use your 'burnt' racks. They just won't look all bright
and shiny.

I am guilt of this too. This can be fixed with bar keepers soft cleaner and some elbow grease. Both racks are back to their original colour and shine. Hope this helps