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Does it happen only in reverse? I had a similar problem last winter where I'd start it and it would stay at normal idle for about 2 seconds then stall. All I did is turn the key 3 times to make the fuel pump cycle 3 times and it ran fine after that and I haven't had a problem since. I'd say check your TPS and IAC.
I forget what the code was I'll check tomorrow after school. I know the computer at advanced said o2 sensor and tps when I purchased the truck. I never got around to the tps