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Have you kept up with the routine maintenance? I would suggest changing the fuel filter and air filter and then disconnect the battery for about an hour.
Could be a small intake or vaccum leak, do you hear a hissing sound under hood when running? Spray brake or carb cleaner around intake, if engine idles up you have find the problem.
I just had a similar problem that ended up being my IAC. http://www.f150online.com/forums/200...e-my-05-a.html Check this out, I cleaned my TB and now runs perfect. I guess this is a common problem with our Fords.