I don't think 173K miles constitutes 'eating' CV joints.
As to the acrid smell, could that be just a leaking O ring at the turbo? If you get on a lift, look above the oil drain plug for fresh oil. Or it could be a clogged PTC causing too much crank pressure and blowing out a cam seal.
While on the lift, check the drive shaft for looseness at the forward CV and the hanger bearing. Also a good time to look at all of the CV joints at the wheels for cracks and tears.
Klaus
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Always willing to listen, just not able to take direction.
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