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Does it do it while it is cold, but go away when it warms up a little? If so, be sure you have the correct weight of oil in it. Mine did and I cured it by switching over to 5W40 Rotella T6 Full synthetic. Now it idles smoothly cold or warm.
I cleaned the throttle pedal sensor last week but didn't fix the surging or vibration. It does it if the engine is hot or cold. I'm Currently running delo.
It's on the front of driver side head and has a connector going to it. Inspect the plug, if there is oil on it, replace the sensor. Leave it unplugged and start the truck. If the surging stops, then for sure replace the sensor.