As long as all of the heating elements on a rack are the same throughout the rack or it is one continuous strip, then yes you only need one probe to operate the entire rack. That leaves the second probe free to regulate another device. However, if you have a rack that has different length heat strips on each shelf then you will need a probe for each of the strips/elements that vary, as the thermostat will just apply the same power to each element regardless of its size, and that could result in them heating up to different temps if they are not the same length as the strip the probe is measuring the temps from.
That being said, if you had two identical racks and all of the heating strips were the exact same length, you could operate both racks with just one probe mounted/measuring on one rack, as all of the power output would be equal to both racks and all strips. I'm not suggesting anyone do that in all practicality, but it is theoretically possible. I hope that helps clarify.