Started a thread about just this issue last week with the same symptoms (thread title Cold Start Hiccups.) Another member posted this fix (from ANOTHER similar thread), and once I did it, the truck has been completely normal! Give it a try:
"OPTION TWO-RESET TPS & ACCELERATOR PEDAL (did once and works great so far)
1-Foot OFF of the brake and accelerator pedal
2-Press the START BUTTON until the RUN position is achieved but DO NOT start the vehicle. (If you do, turn off, open door and let everything reset before restarting).
3-Wait until all the instrument panels idiot/cycle lights go OUT (Check Engine light may stay on)
4-Slowly press the accelerator pedal all the way to the floor and then slowly let off. I think a steady and consistent motion is best.
5a-Press START BUTTON again to turn everything off. (Open Door?) Start the truck as normal. That should recalibrate the pedal so that you are using its full range of motion in synch with the throttle body's opening.
or
5b-Press Brake pedal and START BUTTON to start truck."