1UZStoked

Alright,going to explain every little detail bc this issue really has me worried. I was about to head to work,checked all my fluids & all read full. Started it up & let it idle to running condition before I left. Shifted into gear normally & drove normally. When i was going down the highway(cruising at 60mph) i noticed my airbag light was flashing on & off rapidly & then started to smell something hot. Almost like ATF was burning,then i looked down at the floor to see smoke roll out of the carpet. Immediately pulled over & shut off the car. Engine didnt overheat,checked under car to see if there was any ATF leaking & found none. Had it towed home,checked the fluid levels again & all were still full. However,the ATF looked & smelled like it was being burned & was unbearably hot to the touch. I wouldnt even begin to know whats going on,if anyone knows what the cause could be,please lmk. Any opinions will help!! Thanks