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I have a 92 F150 w/5.0 and an auto. It runs and drives fine, but when it is warm (after a drive down the highway, or within 1/2 hour of a recent drive) it frequently dies when I put it in gear (drive or reverse). I don't have this problem when it is cold. I checked and there are no codes, I didn't see anything obvious looking under the hood. I put a new IAC on it (I was SURE that was the problem) and it acts the exact same (I guess I have a spare now ;-).
The truck is tuned up (good plugs, cap, rotor, wires, etc) and runs good other wise. it has about 120k on it. It has done this since I bought it one month ago. I can drive it, but I just have to time it so that I give it a little gas just as it goes into gear.
you can try turning that screw on top of the throttle body to raise the idol a bit, it might help but this is usualy a temp fix to a underlaying problem, spray out your pcv valve also with some cleaner of get a new one. might help.