Weak acceleration when cold

First time posting on this site so let me introduce myself,

My name is Curtis.
My machine is a 95 Tacoma Single Cab 4x4 3.4 5 speed.
I searched high and low for this combo and have big plans for this cool little truck but at the moment I am dealing with something relatively minor.

When the truck is cold it hesitates to accelerate.
It surges a little throughout the rpm range under heavy throttle.

In contrast I drive the truck to work everyday(34 miles) freeway. When I take the exit near the end of the trip and drive the next couple miles in stop and go city driving the truck is very powerful and accelerates beautifully. This is the only time it seems to run this well.

I like my vehicles to be running at peak performance at all times.

Any ideas or recommendations?

 

UPDATE:
I was suspicious of the problem being related to the cat so I took it off to have a look..
What I found was that the inside of the cat is completely hollow..
I also had a look at each of the two 02 sensors, they seemed ok..

Perhaps the absence of a cat, or in this case one that's been hollowed out, is my problem.

Without a functioning cat the 02 sensor behind the cat is giving the computer information it doesn't understand and its probably getting confused about how much fuel to deliver..

The computer is programmed to operate with a functioning cat in place.. take away the cat and you take away a a link in the chain and your circle is no longer seamless...

 

With a bad cat, you should have your check engine light on (code 420 or 430?).
Is it on?

Being temp related, it could be a bad, or disconnected, temp sensor.

 

It was..
02 sensor out of range
I don't remember the code..
I've reset it twice now..
It only comes on when "lugging" in a high gear..
Now I know why

I've thought about the temp sensor, I'll change it just for assurance

 

There may be several temp sensors on your truck. One for coolant, maybe one for ambient air, and maybe one for intake air, one for the tranny.

I know I have some of these on my 99 4cyl, not sure about your 95 V6.