Strange miss or cutting out ---after warm up? (I searched)

[LawnVetsLLC]

OK this morning since it was 39 degrees last night I figured I would give the truck a few extra minutes to idle. I started it up (fine, fired right up no smoke) let it idle for 3 mins, came back outside put it on high idle for approx 10-15 min to get my water temp up so my daughter doesn't complain about being cold on the way to school. I back out of the driveway and notice it is idling rough. I go to start in 1st gear and had to put it in low to get it out of the road. Pulled over and waited a min, service engine light is now on. I drive around the block to come back around and park and walk her to school. I keep the RPMS under 2k to limp her back home. I pull up to my house (kind of luggin it as its a fairly steep hill) and it kind of bucks then starts running fine...smooth idle and the service engine light goes back off. I ran her up to school, no problems she was running smooth as glass. WTF?

I have a pretty steep driveway. I normally back the truck in, but for some reason last night I pulled the truck in with the front end at the most elevated point of the driveway. Fuel tank is a little under 3/4 full. Would the incline have anything to do with it? Or the 10-15 mins at high idle? (Did I cause wet stacking possibly?) The truck ran fine yesterday. I am planning a 300+ mile trip with the truck later this week....this has me a little spooked. Any insight or help would be appreciated. I guess its time to get a code scanner for this truck... where to start?

[blue99stroker]

if you could read the codes that would help immensely. pull the connector off the icp sensor and if you see oil coming through replace it.

[LawnVetsLLC]

Ah.. off to search on what the ICP sensor is!