Yes, leaving them in will not only turn them dark, it will leave them rough and harder to slide in and out, which is a problem, for instance, when sliding something liquid into the oven.
Take them out and use oven spray outside. Our self-cleaning feature works very well, and I would not use oven cleaner on a self-cleaning oven. Voids the warranty, and the interior surfaces are not supposed to be subjected to it.
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It's harder to hate close up.
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