Sure, there's the infamous appendices and the Silmarillion for even more backstory, but they're not required reading, just fun additions to the world.
> casually racist undertones
This is the first I've heard of such a thing. There's plenty of that in Lewis, Lovecraft, and many other writers, but unless you're referring to the general "elves are better everythings" meme (http://tvtropes.org/pmwiki/pmwiki.php/Main/OurElvesAreBetter http://tvtropes.org/pmwiki/pmwiki.php/Main/FantasticRacism) (which is commonly imputed and used in descendant works, but in Tolkein's own work frequently counterpointed by wistful musings about the future promise of Men with their much-vaunted mortality), I don't see any sensible basis for that in Tolkein. As much as Tolkein liked to create strong good/evil distinctions for the reader, those lines were not drawn between any analogue to human races; there were many sources of evil on many fronts.