They haven't been replaced, unless Yooka-Laylee somehow erased them from existence. I won't be changing my name unless Yooka-Laylee impacts me more than Banjo does. I doubt it, but we'll see, hah.
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Banjodorf
Rocket Raccoon
Well I don't see Microsoft having another game for them. 
Banjodorf
Sigh. If we're going to go down this road, I don't see many characters (even ones in Smash) getting another game any time soon. However, in Banjo-Kazooie's case, it's very likely a new game of there's will be announced at E3 this year, following comments from a while ago about M$ wanting to do something with Banjo again.