@Pippinwhite-- A friend of mine has the nonstick racks and she likes them. I'm with you on cleaning the racks outside. If you do it a couple of times a year, that should be good. I generally do it when I run the self-cleaning cycle for my oven, usually in the early spring and again in the fall. I do it when it won't heat the whole house up and I can open the back door to let the fumes out.
The weather in my area is usually good enough to also wash the oven racks outside at that time. Having a good scrub brush around to help get the gunk off doesn't hurt, either.