Sounds like the service department sent you out with a leaking gasket or two. The smoke is probably coming from oil that is leaking onto the exhaust pipe or exhaust manifold. You should not have to worry about it, other than having to smell the burning oil and put up with the smoke. Once the problem is fixed, it may take a few days for the oil to completely burn off the exhaust pipes before the smoke is eliminated..
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It's probably OK to drive. I imagine they failed to get the oil filter properly seated and you're getting a little leak there. DO BE SURE to check the oil level before you drive it and add if necessary.
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