Random loss of power then stall on 4.7L

I have an 02 Dakota w/4.7L motor (39K miles). When driving, the engine will suddenly lose power and sputter as if it isn't running on all cylinders or something. Eventually it will end up stalling. I have to let it sit for about 5 min before it will start again. This is a major annoyance, and not to mention when it stalls out the ABS light comes on and stays on because the CAB module loses it's memory. I've cleaned the IAC.

I really don't want the dealer to troubleshoot this... help!