Just do a internet search on your truck and engine, see what results you get. Specifically look at the result from forums that match your vehicle.
The first thing I would be looking for is a vacuum leak and it won't throw a code unless the ECM ( electronic control module) can't adjust the fuel trim enough to keep the air to fuel ratio correct. Had that experience before and like your truck it would idle high at start up and improve after warm up. Hope you get to the bottom of it quickly. Post what you find, I'd like to know.
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