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Definition Throttle/Pedal Position Sensor/Switch "E"/"F" Voltage Correlation
Note: This definition of P2140 is applied to all manufacturers.
You trucks throttle is "fly by wire". The code says it's not reading correctly between two of the three tracks. Could be the pedal assembly under the dash or the wiring to it.
You need a code scanner capable of reading live data or a smart phone app to go much further.