It is easy to ID staghorn sumac vs poison sumac especially this time of year when the fruiting red staghorns should be very visible. It's likely this is the sumac you mean as poison sumac is uncommon while staghorn is abundant and almost weedy in many places. That said, in my experience many people wrongly believe staghorn sumac is a poisonous tree.

Poison sumac should not be burned for the same reason poison ivy shouldn't be burned- the irritating, rash producing oil is carried in the smoke and should not be inhaled. But you probably don't even want to touch let alone cut the would of poison sumac if you are sensitive. Staghorn sumac doesn't contain those oils and is safe to both touch and burn.