if you know what the throttle is on your truck, you can find the TPS(throttle position sensor). and thus you can probably do this yourself. i havent messed with the tps myself, but if you have a voltmeter, you can probe the wires going into it and check the voltage which should be around .96 or .97 volts i think.
apparently on obdII trucks like yours and mine, it doesnt matter what the tps gives out for a voltage, because the computer will take whatever number it gets at startup and set it as idle.. (or something along those lines) but if your tps is giving out a number like 6v(which i think is WOT or close to it) then you might need it recalibrated.(you can do it yourself)
some guys are against it, but if you unplug your negative cable from the battery terminal, and leave it off for about 10-15 minutes, it will reset your computer. this will clear the code, but if the problem still exists, the light will go back on in a drive cycle or two. but reseting it, may allow the computer to reset its tps idle voltage.
or it might need to be replaced. i'm not sure how much they run, but checking your tps voltage or reseting the computer are worth your time before spending the money.
this is the link to the tps mod --->
http://www.explorerforum.com/forums/showthread.php?t=79362
i'd say its worth a shot before you take it to the stealership.