This morning I was driving to work on the highway and had to make a aggresive lane change to get in front of a slow car. A tuft of smoke came from the hood and smelled kinda like rubber. I then pulled over to the right lane and kept an eye on the engine temp. It did not overheat and the heater was still working. After that tuft of smoke the car ran fine and I drove to work without issue.

What could cause this? Should I be worried?

You may have run over something that stuck to the hot engine or exhaust and melted and burned.