Mine did that off and on. I was told it was the TPS. I put in a new one and it hasn't done it since.
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A TPS should solve your problem. They run $35-65 depending on the parts store. For future reference if you have surging RPM's at idle you can swap out the IAC motor for a new one. Another easy 10min fix. As you bought the truck used, I'd get ALL the fluids changed before they cause you grief down the road! And a tune up as well, for better piece of mind. As far as engine cleaners go, seafoam does a good job of getting rid of built up deposits in the engine. If you are a lazier person auto-rx is another good cleaner on the market that you just add to the crankcase oil 
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