Workflow Service Certificates expired in SharePoint 2013

We have SharePoint 2013 Workflow Service certificates listed below and they all are expired now. What is the best way to renew these certificates?

1. AppServerGeneratedSBCA – Root Certificate for Service Bus
2. FQDN.com – Service Bus Farm and Encryption Certificate
3. FQDN.com – Workflow Manager Services and Encryption Certificate
4. WorkflowOutbound – Workflow Manager Outbound Signing Certificate

Change certificates with Domain CA issued certificates using “Set-SBCertificate”, “Set-WFCertificate” and “Set-WFNextOutboundCertificateReference” Workflow Power Shell commands, is it the right model?

Is it possible to simply replace them using self-signed certificates created from IIS? If yes, what are the steps?

Or is there a direct way to renew the above already expired certificates?

Thanks in advance.