That's a good run! Based on the terrain on your videos, I think the car and the transmission did well. It's amazing what these cars can do in their stock form. There are limitations on any system and the user just has to be aware of that. It's good to know that you can properly enjoy a day at the dirt with before it limps. The challenge will be to get to know how much it can do before it gets to that point but I think you have a pretty good idea.
The smell is normal as it's just heated-up fluid and expanded fumes smell coming off the breather, as long as there isn't a transmission temp warning light turned on.
I have seen other makes who market their cars as off-road capable, would heat up their transmissions and limp the car after a few obstacles.
This is good news for those in the market for newer ones. CVT failures commonly occur in the belts and Subarus have chains, eliminating that issue. After seeing the TSBs and confirming that the failures and non belt-related, it's a sigh of relief for those after newer models.
Now, you have to find a good Subaru mechanic to take care of the transmission. This is recommended even if you are to do DIY. They will know what's wrong with the car from a kilometre away and, if you tell them your type of wheeling, they will adjust the CVT fluid change accordingly. It would be nice to get a dip stick to check the fluid condition but, at the moment, it's just going to be a proper fluid change to check the old fluid. Cheers.