Yes the battery terminals are clean. The date on the battery is August 2013. It only hesitates in gear.

 

Also i have noticed that when pulling to a stop the engine revs slightly but my foot is fully on the brake. Is this normal or is this a symptom of the tps?

 

Does it only rev for a second or does it stay like that. If it stays you might have a vacuum leak.

 

It only revs for a second.

 

If it just goes up a bit it probably isn't anything to worry about then.

 

My Dakota has had this similar issue as long as I have owned it, going on 8 years now. I have replaced the IAC, TPS, cleaned the TB, tune up, new battery, on and on. Our motors and PCMs are very finicky about battery voltage, and I think it is related. It has never been a big enough issue to cause problems so I have just ignored it. I wouldn't worry too much about it if I were you at this point. Sounds like you solved the bigger issue.

 

Take the throttle body off and clean the crap out of it using 2 cans of Throttle Body cleaner and an old tooth brush. Spray out all the passageways. Sounds like the IAC is sticking.