Try disconnecting the positive battery cable, then turn on the headlight switch to drain the system of any stray voltage. Wait 10-15 minutes, then turn the headlight switch off and reconnect the positve battery cable. Start the engine and drive the truck normally for 20-30 miles so the computer can relearn the engine's operating parameters.
If that fails to cure the problem, check for leaking vacuum lines or loose wiring connections.
Another possibility is an inoperative or leaking EGR valve. I would have the computer scanned for trouble codes, before replacing the EGR as they can be a bit expensive.
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