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Diagnosing noises and smells over the computer is tough, but lets see if we can get this nailed down.
Does it seem like the noise changes with the use of the brakes?
Have you looked under the car to see if the plastic skid plate is dragging?
Is your edge all wheel drive?
Is it the same if you are turning or is it better/worse?
That sounds like a rear axle problem or a transfer-case issue. I would probably suspect the rear axle. We have had a couple of these go out on us (and we only have 3 of them in my fleet).
Has the dealer checked for metal shavings in the rear differential fluid?
That would be the first place I would check. The burning smell is a little odd. I would imagine a burning smell would be accompanied by a fluid leak somewhere.