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The managers exchanged words after last night's 2-2 draw at Tynecastle, both possibly frustrated at sharing the points.
In his post-match interview, McInnes brushed off the incident, joking that he told his Tynecastle successor he was fortunate with the squad he had left him.
However, Belgian Vrancken said the Ibrox boss didn't give him a "genuine handshake" but added that the pair spoke afterwards and were on good terms.
He said: "Not much, actually.
"I think when you fight for your team, everybody fights for his own team and works hard for his own team.
"I know I have the biggest respect for him, what he does in Rangers and what he did here, like I said already before the game.
"When you draw or lose or win, then I think you have to have a genuine handshake.
"But at the end, we spoke and it's all fine."
McInnes had previously said: "No, all good. I think he was just thanking me for how grateful he is for leaving him such a strong squad here."