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A while back I took off quickly, and my slipped. I backed off right away, but the nasty burnt clutch smell was there for quite a while. It had never slipped before, and it didn't slip again after that (even at a track day).
The next week I had the clutch (and RMS and IMS bearing) replaced. The old clutch disc was worn down to the rivets, so the time had come for replacement. That might be the case for the OP, it's time for a new clutch!
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