2010 Dodge Challenger Problem with 6 speed SRT8

Yesterday I took off at red light two times and only used the first three gears and then put in the 6th gear once I hit up to 60-70 MPH and cruised. I got on the highway about 5 minutes later and went through the regular shifting pattern to get the most of my gas and I noticed after driving 15 minutes on the highway at 60 MPH in 6th gear that RPMS were starting raise above normal. My RPMS were flying up to 3000 - 4000 when I lightly pressed down on the accelerator.

I then noticed a burning smell and I didn't think it was me at first. I thought it was coming from one of the trucks around me. About 5 minutes later I then realized that the smell was coming from my car and I was thinking to myself "did I burn the clutch?". It smelled like my clutch was burning and I was losing power in my car so I took the nearest exit off the highway. As soon as I got off the highway and came to a stop, I put the car in first gear and the RPMS flew up to about 4000-5000 and the car was barley moving. I had to keep tapping the gas to lower the RPMS and to get the car to move.

I pulled into a parking lot, turned off my vehicle, opened, the hood, and let everything cool down. I saw a little bit of smoke coming out when opened the hood of the car, but it appeared it was coming from behind the engine and underneath the car. It wasn't a lot of smoke, like I said, I could barley see it but I noticed it. There was a little bit of dust on my car that smelled like a burning clutch. I had to get my vehicle toed back to my house, but the guy from AAA said the same thing. "It smells like you burned your clutched out".

I'm not sure if my clutched is burnt out(I hope not), but if it is then I don't understand how I did it. I never ride the clutch, and every time I shift I hold down the clutch, put it in gear, release the clutch, then accelerate again. So that's what im confused about. I've taken off plenty of times in my car and I have never had this issue. I never let my RPMS reach 6,000 when I take off either.

I started smelling the foul "burning" odor when I put it in 6th gear on the highway. It was about 15 minutes after driving in 6th is where I started to noticed the smell.

What could the problem be? Any help or suggestions would be much appreciated. The car is sitting at my house right now and im to scared to turn it on and try to move it because it barley moves, and I don't want to make anything worse. There is no check engine light or any notification popping on on my car saying that something is wrong