I think the smell is just you grinding the clutch more than necessary. I do that every now and then, especially when going uphill in reverse. Always smells afterwards.
That thunk you're talking about happens to me as well, especially in first gear at like 3-4k rpm if you just pop the clutch. Try easing the clutch a little and it won't thunk. Either way, you're not reporting issues with your clutch engaging so I think you're fine.
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