I am not a transmission expert, but will give it a shot.
Does the transmission also slip when it is not changing between gears? As in, when you give it throttle, does the transmission slip as the car accelerates? Has transmission performance changed for better or worse after the fluid change? Is there now more or less slipping between shifts, smoother shifts, etc?
If the only slipping occurring is when shifting, a solenoid may not be functioning properly or the computer has problem. When the transmission changes gears, a clutch pack releases, the gears shift, then clutch pack lockups. Release and lockup are controlled by solenoids, which are controlled by the computer. Lockup is controlled by I think Shift Solenoid SL. If this solenoid or the computer is not working right, clutch pack lockup could be delayed causing the engine to over speed between shifts.
I would think if your clutch plates are slipping (worn out), they would do so all the time and not just when changing gears.
The solenoids for the transmission I think are external to the transmission. As such, if one is defective it can be replaced without pulling the transmission and taking it apart.
The onboard computer diagnostic system could help run down the problem. A transmission shop or competent mechanic with a decent shop manual can check out the solenoids and computer shift timing.
I would get this fixed soon. Slipping during shifting, as you are experiencing, is very hard on clutch plates. This will result in greatly accelerated clutch pack wear and the burned fluid you smell. The result being your transmission may start slipping all the time.