it only does it on take off? sounds like its getting way to much air thru the intake...and the mass airflow sensor is either bad/dirty or has been disconnected and the computer cant function correctly and cuases the truck to drown almost... check there first thats the only place i could think would be affecting it then it also might be possible your getting way to much back pressure in the exhaust
but if it runs and hesitates thru out the whole time your driving then it could be your sparkplug wires and one has grounded or has gone bad