Help! Smoke out of left exhaust and something smells like it's burning

[Bunyan]

Maybe it has something to do with my recent oil change yesterday? I picked it up from the shop and drove it to work and back.

I noticed it tonight as the wife and I were looking at *Toyota Sequoias and left the X running in idle.
There was actually quite a bit of smoke coming out of the left exhaust.

I turned it off and started back up and drove home about 5 miles without any issues.
No more smoke but something still smells like it's hot.

I'll check it out tomorrow morning when it's light out but now my babies got me worried.
She's an '06 4.4l with 87k


*We're looking at "bigger" vehicles to replace her 4Runner (or God forbid my X5) to give us more room for the baby car seat. I'm 6'6" and there's no room for the car seat behind me when I'm driving. Plus we need a third row in at least one of our cars.