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If you have a multimeter, you can probe the voltage output - key on engine off - I think it is like 0.4 volts at idle and 4.5 volts at the floor. The key to your issue is the voltage should not vary if the pedal position isn't changing.
Can the sensor be replaced without replacing the whole pedal assembly and where can i get one? Dealer wants upwards of 200 for a pedal. Sad thing is I just replaced the pedal a couple of years ago
It depends on what year your truck is (I think) whether you can change just the TPS or have to do the whole pedal assembly. I am not sure what years have the whole assembly and which you can change the TPS separate. But, you can try cleaning it with electrical contact cleaner first. A lot of times it takes care of minor issues like you are describing, if that is what the problem is to begin with. I would try that before replacing anything, it's obviously much cheaper.
Don't throw parts at it. Make sure the sensor is your problem first.
Unfortunately, some years of these trucks came with the TPS integrated into the pedal assembly. BUT, I think if you shop around you will find $200 is a little steep.