Welcome.
The AC clutch signals the PCM(computer) to alter the rpm's of the engine, it raises it on purpose to compensate for the clutch load. If the engine is struggling from the change, then something else is wrong, but not the AC compressor.
The clutch runs in all positions except OFF and VENT.
I suggest cleaning the IAC first, that needs a cleaning every year or two. They almost never fail, so first clean it well and be sure to not spray much carb cleaner up into the diaphragm side(the rubber can be damaged).
Give the truck a tune up, change plugs and wires etc, all fluids, filters. It's much easier to diagnose issues if the tuneup stuff is caught up.