Thanks for reaching out to us in order to find out about other member's having similar experience in S Pen that has burnt rubber smell. I feel and understand what's your situation, taking care of my device too much, if I encountered the same, I will get worried too.
With limited view of what's really going on your device, I highly recommend bringing it to the nearest Samsung Service Center in your location. Rest assured that your device will undergo an assessment to pinpoint the root cause of the issue. They may guide you and offer solutions to restore it.
