If you know which drives were in which logical disk slots, and have a replacement drive for the burnt one the same size or larger but not larger than parity, it's fairly straightforward.
Glossing over the details, some of which may be very important, you would...
Set up a trial version of Unraid, get it booting and able to access the GUI on a system capable of connecting all the drives
Connect all the drives including the replacement for the burnt drive, assign them to the correct disk slots
Start the array being VERY sure to select the "parity is valid" option. If you don't do this, you will lose the data on the failed drive
Stop the array and remove the replacement drive so parity will emulate the data
Start the array and verify all your drives are mounting with the correct content
Retrieve your backup and put the content of the config folder on your trial USB, overwriting what's currently there
Start the array and see if things are working the way they should
Assign the replacement drive to the emulated disk slot and rebuild it
There be dragons, don't move forward unless you either a. know exactly what you are doing and why or b. get help here on the forum with explicit details on each step
You will lose data if things aren't done correctly, or parity wasn't in sync when things went boom. The failed drive recovery hinges on parity being perfect at the point the drive died.