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Sorry to hear bout that happening. Burning oil and a burning clutch are very different smells. Burning clutch smell is more like rubber burning...or brake lining burning.

It sounds as though the clutch could have stuck or been partially engaged while in reverse, even with the clutch pedal depressed. That would explain the vibration and the drop in idle.

Hopefully you didn't so any damage, but in the future, I wouldn't leave it in gear while warming up in very cold conditions. If you want to warm up the shifter linkage and/or trans fluid, try moving it in and out of gears while warming it up at idle.
 
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