What milage is on the truck?
These things are notorious for the front O2 exhaust sensor going around 100,000 miles. Mine did and threw some strange acceleration issues until I replaced the sensor. Toyota main dealer diagnosed the throttle position sensor as the issue (wrongly), MUD pointed me in the right direction.
Test - does it idle OK, accelerate = BIG STUTTER, wide open throttle also OK? (sensor is not used during idle and WOT).
Just remembered, when the sensor is starting to fail, the issue is intermittent, but gets progressively worse over time.
Mine is doing something very similar, and I've done all the normal corrections to no avail. I am getting a bad 02 CEL but didn't think it could cause a hesitation at slow speeds in first gear. Maybe I should reconsider.