Got a Whirlpool "Gold" self-cleaner in the apartment in Montreal and I use the self-clean cycle once or twice a year. I never knew about removing the oven racks until it was too late. The two other self-clean ranges I owned were both bought used and I just assumed that the racks stayed in. I've had the Whirlpool for 7 years now, and the racks have been 'cleaned' many times - they have discoloured and they do not slide smoothly anymore.
I usually run the cycle for the 'default' time of 3 1/2 hours, but I tend to schedule it to run in the wee hours of the morning. I usually run the cycles in the spring and fall, when the extra heat in the apartment is nice to have.
The Whirlpool is the range I use the least in terms of serious cooking, so I don't need to use the self-clean often - man, if the GE Kitchen centre oven was a self-cleaner!!!