This change is more weird than I thought.
I wiped some self-deploying mode devices and their records seems to be removed automatically in MEM portal.
But I still get stuck in autopilot process with error code 0x80180014.
Solution listed in https://docs.microsoft.com/en-us/mem/autopilot/troubleshoot-device-enrollment says:
"To redeploy the device through Autopilot:
- Delete the device record in Intune.
- Redeploy the Autopilot deployment profile."
Since the wipe action already remove the device record for me, I made another autopilot profile (profile B) to replace the original one (profile A).
Stupid but it works.
 
Summary:
To MANUALLY run an AUTOpilot self-deployment for reused devices, you need to MANUALLY delete the device records in MEM portal.
(If you are lucky, Mr. Wipe could also do this for you automatically.)
AND you need to MANUALLY assign a different autopilot profile (profile B) to those devices.
For configuration consistency, you may want to assign profile A back. And yes, MANUALLY.
 
ONE deletion and TWO assignments MANUALLY for ONE reused device. Image you have 50 or more.
Thank you Microsoft, you just made other MEM/MDM solutions more attractive.