My pickup runs good when I'm on the road, but it dies out when I stop.

My pickup runs good when I'm on the road, but it dies out when I stop. It will start right back up but then die out again everytime I stop. It gives off trouble codes but when I replace the parts it still does the same thing. I have taken it to two mechanics and a Toyota dealership, all who find a laundry list of things that they want to charge me for. When Im in the highway it runs great but when Im in stop and go traffic it dies out at the stop lights.