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i have a 96 F350 7.3l and in sudden stops the truck will grab as if its a standard and ur not using the clutch and shut off, also 99% of the time it will not go into reverse with out shutting off.
Sounds like your torque converter lock up is not disconnecting as it should
Does the cruise control disconnect when you tap the brake?
Do your brake lights come on?
If you don't have cruise, find a safe stretch of highway and get up to speed and let the transmission finish all of its shifting. Keep the throttle steady and with the left foot press lightly on the brake pedal. The torque converter lockup should disengage and the RPMs should raise. Let off the brake and the RPMs should drop again.
All of this says you have a bad brake switch. Anything more than that I can't help you and I hope someone else here will chime in.
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