Clutch failure

My car has trouble shifting into first. My car has the gears D4, D3, 2, and 1, but the only functioning gear is 2. Both D4 and D3 rev and eventually catch, and the shifter doesn't even go to 1. 2 will, however, drive like normal, but I am afraid that consistent use of this gear will also cause it to slip. The transmission shows signs of a bad clutch (delayed engagement and a burning smell after the car has been driven and parked) and at this point, I'm debating whether or not to fix it.

P.S. D4 and D3 will work as normal if the car has not been driven in a few days, but they only work for a minute and start revving and eventually catching again. The car also throws a shift error code)