Here's a theory, you might have a bad ground wire connection someplace. I don't know for sure but I bet the ABS pump has a pressurization process it goes through on start up. I suspect when that happens the bad ground becomes an issue and the abs pump motor is not able to turn on. Maybe the ECM uses the same ground point and as the voltage drops from the pump coming on the engine stalls. It may not even be the ECM but any component maybe a fuel pump.
Try disconnecting the ABS main fuse, your abs light will still come on but see if the truck stays running and report back here
bass mechanic's post in Help Engine start fine, ABS Light comes on engine stalls. was marked as the answer