possibly lean fuel error, replace the O2 sensor(s), available from napa or adv auto
parts for about $38

I had the same problem.  Try replacing your air mass flow sensor.  It
is very simple to replace and not very expensive.   I replace it
myself.  Elizabeth

When you put it in drive/reverse you’re adding a load to the engine so
if it’s not idling well, or just not running right, it might die at
that point.  I am curious -- has this problem gotten any worse?  I
have a 99 trooper that has a similar problem.  Codes were being thrown
for the rear O2 sensors and then for the MAF sensor.  It would die at
stop lights and sometimes even on the highway when I took my foot off
the gas.  Initially it was occasional and then got progressively
worse.  It has 100k so I went ahead and replaced O2 sensors.  No help.
I replaced the MAF, which SEEMED to help but the problem returned.  I
found that resetting the computer (which I did during the MAF
replacement by disconnecting the battery for a while) fixed the
problem for a day or two and then at some point I would try to start
it and it would be unable to idle.  Sooo I am thinking that the
sensors themselves are fine, but reporting a problem in the mixture
and trying with all their might to correct the problem but failing.  I
am thinking there is an air leak in the intake somewhere, most likely
at the intake manifold gaskets, which are notorious for cracking on
Rodeos, and I assume Troopers as well.  (I have a 98 Rodeo that had
this problem but the symptoms were never so bad that it wouldn’t idle.
Replacing the gaskets was a major @#$@!$ pain.)