2003 Ford Escape engine run but not at idle

sorry for my bad english, my engine don't run at idle when is hot, but run if i have a foot on fuel. this problem is not there at all time it's intermitent. if i go on hightway and i run during a certain time with a constant speed, the problem are gone. the problem come habituly when the engine are hot and i have to stop the engiine and start imediatly after, the engine stall if i dont have a foot on fuel pedal. thank you for your respond