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Ya man, my 2.5L does it to even when it is warm out. I would not worry about it. I think I would be weird though if you truck had been running for a while, you turn it off, then turn it back on and it does that.
yeah my 2.3 does that so does my girls duratec taurus.....completely normal although i would let it idle down before shifting into gear....not good on tranny