Recently a cleaning firm spilled a cleaner that is obviously acid on my marble vanities. They were sealed, but the damage is still very evident in the form of hundreds of small circles. What would you recommend as the way to repair them, the materials to use, etc? Would it be better to replace the vanities?

Sealing DOES NOT prevent etching. Sealing your stone inhibits staining. You do not need to replace your vanity tops.