I would have the rear wheel pulled and check the rear brakes. You may not have done any damage, but if it was hot enough to smell then you may have. The damage that could be done is to the rear brakes, rear drum/rotor, and not probable but possible rear wheel bearings. The wheel bearing part could happen if it got extremely hot and melted the grease in the bearing. With the distance you say you drove I don't think the wheel bearing would cause a problem. The brakes and rotor also depends on what condition they were in to begin with.
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