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could be anything from engine oil on the engine block burning as your driving and coming inside through the air flow from the outside vents, you can always click over the button and recirculate the interior air which will close the vents from pulling air from the motor. Might want to take it in and inspect it, if its not burning oil off the engine somewhere the only rubber would be your tires rubbing somewhere on the wheelwell or the frame and possible melting in that manor.
My initial thought is that you have no spark in one cylinder. This could be from a bad spark plug or other ignition component failure. Have the spark plugs ever been changed? I would rule this out first, as they are inexpensive, and also under more stress than any other part of the ignition system. If the problem persists, then it's time to look at the spark plug wires or ignition coil.
Start the car and open the hood when it's dark. Do you see/hear sparks coming from the plug wires? Another inexpensive place to start looking.
You will need to find out which speed sensor has gone bad. Only way to know it to hook it up to a scan tool. The burning smell is possibly a caliper sticking as these vehicles are bad about them sticking after brake pad replacement.
Smoke coming out from the middle of the two rear tires right? Sound like your rear differential is out of lubricant. Leftover lubricant is probably getting burned by heat from the friction. Have your rear differential lubed up.