Welcome aboard!

What transmission? Does the truck have updated smog equipment (DPF/DEF)? What brake system (air/hydraulic/hybrid)? Does it have ABS, and if so, is its lamp on while the engine is running? How many keys, fobs, etc. on the key chain (silly question, but you might be surprised)?

If it's limping, it must be generating codes, and the codes will be necessary for diagnosing all but the most obvious. Even if they self-correct and the SES lamp goes out, there will be codes stored in history a simple reader won't read. If it has a loose connection or a sensor, the code will give you a direction to look. It is unlikely a sensor, as those tend to be much more persistent, and the codes remain active for much longer periods. Perhaps you need a more capable reader/scanner, or a trip to a truck shop. Or maybe it's something more simple, like a plugged air or fuel filter, or a fuel leak, which can go unnoticed under many conditions, then show up at random times or specific conditions.