My first gen is turning into a 3rd gen freak! [Not clickbait] [Cops called]

For about 3 years been trying to figure out the issue to the truck randomly dying. There are a particular set of variables that meet when the truck shuts off.
-When switching from reverse to park/drive
-Cold/hot starts (I have to reverse out of steep driveway then shift to drive)
-Seems to happen more in the heat/summer

*My way around this, or "cheat" is to switch from park to neutral with the ebrake on while going down the hill then to drive - truck does not die.

I have an ultra gauge but it has never picked up what this was to read the code.
What I see on dash: check engine light and battery light.
Capabilities: When the truck "dies" I'm able to shift the trans into park, shut off, then turn the key in order to keep driving.

*Note this issue does not occur every start up or trip. Very intermittent.

The first time I had this happen I took it to the dealership that came up short. It didn't affect my driving so I've held off on it for 3 years.

It happened twice today so I guess the ultra gauge was finally able to track it -
A CPS, crankshaft position sensor, issue. Success.

 

Shots fired

King Ranch Edition? Are you sure it's not turning into a Ford?

 

I don't know but you can see my fidget magnets inside the cup holder.

¯\_(ツ)_/¯​