I was racing somebody home, and I swear, or maybe I'm hallucinating (adrenaline rush).. that the car popped out of gear, twice? out of 2nd and one out of third or fourth, something like that..

It's a 2001 SS, M6.. Does that mean the clutch is possibly wearing out?

 

No, its not your clutch. It would be your synchronizer/hub/slider assembly for the affected gear. The engagement teeth are rounding off and no longer making full contact/engagement.

 

So in a nutshell the car has been beat!

 

friend said it's possible it wasn't in gear all the way.. I'd rather hear that then anything else :P

car only has 31,000 miles on it.. and really not beaten as hard as most people..

 

That is possible, if it only happened once and never happens again. But, if the transmission is wearing out as I mentioned it will first happen at high load, then eventually under lighter load, but you might be able to hold it in gear for a while.....then it will really **** you off and refuse to stay in that affected gear no matter what.
Things to watch out for to prevent damage:
Make sure the clutch is at full travel when going into the next gear.
Don't drive around town shifting without the clutch.
Keep/make sure the trans is full of the proper fluid, or an upgrade such as royal purple.

 

mine does that after storage for the first 100 miles or so then it fixes itself.