That would be the only reasonable thing it could be. If you did something and then smelled your clutch burning it's because it didn't grab. So yea, your clutch didn't grab at 5,000 RPM. Definitely the clutch.
Yea, I've never had the problem of my transmission popping out of gear, and I've burned em down plenty of times. You probably just didn't have it fully engaged or else your transmission is going bad. How old is the car? My car has about 120K and it's still just as strong. I take care of my baby!
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