From what you described with the ABS and Park Brake Light on, I would be checking your brakeswitch (up at the pedal under dash). They are usually problematic on these trucks all the way up to the present. Little plastic gizmo about $20 and 2 seconds to change it out.

The brakeswitch is also the trigger to unlock the torque converter when you are rolling up to a stop so that it doesn't kill the engine by being locked up.

Hope this makes sense to you, the faulty brakeswitch is making the truck think it's rolling down the highway with the torque converter locked up. That's why it dies when you pull it into gear.

That's where I'd start.........