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This may be a PITA for you. We know what parameters the PCM uses to activate the GPs so I doubt one of those is triggering it while driving, but who knows? All I could find was:
Glow Plug Light Signal
The Glow Plug (GP) light signal controls the WAIT TO START indicator light located on the instrument panel. When the light goes off, the engine is ready to be started. As a bulb check, the light comes on every time a key on reset occurs, even though the glow plug system is not commanded on. On-time normally varies between 1 and 10 seconds. WAIT TO START light on-time is independent of glow plug relay on-time because the glow plugs may stay on to improve performance until engine reaches operating temperature.
An open circuit in the glow plug light wiring will result in an inoperative glow plug light. A short circuit will result in a glow plug light always ON condition.
Did it come on and stay on, or just flash on for a second and then go back off? If it just flashed I'd say you've got the beginnings of a short. Check the main engine wiring harness for chaffing near the valve cover.
It came on this morning about half way to work and stayed on. On the way home it came on when I started the truck like normal and then it stayed off all the way home.