I removed the membrane a few times, but as everyone knows, getting it off can be rather "fussy," because some membranes are easy to grasp, and come off in long sheets, and others seem to defy all efforts at removal. In the end, I realized I was killing 5-10 minutes on the chore and, since I couldn't get the membrane completely off of many of the ribs, and when I ate them couldn't tell which ones had membranes and which ones didn't, I quit doing it as well.
(Actually, I do still give each rack a chance, and if it comes off right away, I'll take it off, and if it gives me any problem whatsoever, I don't bother.)