AC does not blow cool air

My AC does not blow cool air out the vents either. If I drive about two miles down the road, stop and put it in park then I can tell it is gone when I rev the engine. The AC will start blowing cool air then. It only does this when the truck is cooled off. I can crank up the truck in the morning and let it idle for as long as I want to and it does not matter. I have to drive it a couple miles and put it in park before the rough idle and jerking is gone. Then my AC works again immediately. Is there a common link between the AC and what could be wrong? Thanks