I have a 2011 Altima 2.5 SL with 189k miles. Air Conditioning was working just fine. The other day I drove 80 to visit my Dad. The A/C worked just fine on my way there. On my return trip, I didn't use the A/C. That same evening my wife used the car and told me that she smelled something that smelled like rubber burning when she turned the A/C on but the A/C worked fine for her during her trip. The next day I went to use the car and turned the A/C on and it didn't cool as it would have. When I got home, I looked at the A/C compressor and noticed that the clutch wasn't turning. Should I just go ahead and just get a new Compressor? I do have 12v at the compressor connection.

Yep, if there's 12V at the compressor connector but the clutch isn't engaging, the clutch is bad.