I have a 05 6MT and the same EXACT thing happened to me, twice. I took it to the dealer and could not replicate the problem with them. I had them take appart the clutch and compare it to a brand enw clutch, and they were identical. When I launch at that RPM now, theres no problem ,the gear kicks in and my tires spin. I also had the same smell. Im sure it's not good for the car, but mine seems to be running great with no further issues.

-Mike