Self cleaning oven - racks stay in?

The 'self cleaning' feature cleans both the oven and the racks. I would leave them in.

You can leave the racks in with a self cleaning oven but be aware that they will change color--to a bronze looking metal color. I take mine out when I use the self cleaning oven feature so they stay shiny and silver looking. I soak them in the bathrub with hot water and dish soap for a few hours and then scrub them off with a hand brush and rinse them.

I would not worry about leaving them in.

My oven (from 2009) instructions say to leave the racks in while cleaning. The self-cleaning dulls the finish/sheen on the racks so then you apply a light coat of vegetable oil to the racks so they will easily slide again. It works.

I always leave mine in so they are both clean.

it's a matter of personal preference.