2004 Toyota Tacoma electrical system problems

After running the vehicle and shutting it off for about 2 hours the vehicle did not want to start, there was only about 2,000 miles on the truck. The starter is cranking the engine, but the engine is not starting up. I took it to the toyota service department, and they said nothing was wrong with the vehicle. The same thing happend severl times after I had taken it to toyota. The only way to start the vehicle would be to crank it up for about 5 minutes, then the vehicle would run rough for about a minute.

While driving the vehicle loses pedal response due to the throttle control motor shutting down and the check engine light coming on. The engine either shuts down completely or the becomes very jerky and cannot sustain an idle. Incidents began to occur around 95,000 miles odo but stopped for several years after a mechanic worked on the vehicle and said the throttle position sensor was out of alignment.