It doesn't happen often, but the Explorer keeps stalling when we approach a stop sign or red light. It gets to the point that we have to put the vehicle in neutral to start to SUV and in order for us to move!
Sounds perhaps like it could be the classic IAC (idle air control) Valve. When it gets gummed up with carbon it tends to stick and give you problems similiar to what you describe. What you want to do is remove it from atop the intake. You should see some black carbon deposits inside the valve. Spray some carb cleaner inside it and clean it out with something like a small toothbrush. I used Q-tips, but whatever works. But, send some more info about your truck's year and engine to be certain that this is your problem and I'm sure you will get a response.
dmichael is probabaly right. My 2000 has been doing the same thing and I took it to the dealer today and they replaced the IAC. It fixed the problem for now. I have 47K on the explorer now. Hope this helps.
My 99 XLT 4x4 was doing the same thing. I have 160,000 miles on it and the problem just started. I pulled the IAC and cleaned it. It was pretty dirty. I then checked the unit and the system as outline in the Hanes manual. Everything checked out fine so I reinstalled it.
The whole process took about 15 - 20 min max.
So far so good.
Would probably be a good place to start.