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Without input from the O2's, the engine goes into fail-safe mode and runs in a full rich fuel trim. When the engine is cold the spark plugs are being "loaded up" with unburnt fuel, and engine stumbles. Hope this helps.
check the manifold is not leaking on the intake side. also check and clean the intake top. carb clean helps to clean out all the muck out on to a cloth. also carb cleaner will help if you have a leak spray round the intake when engine is a temp. engine will cut out or speed up depending on carb cleaner used. were there is a leak.
How long has this been going on? Could be a bad tank of gas... do you fill up at good stations like Chevron or the cheap Mexican ones? Also if you filled up when the tanker truck was filling the station you may have ended up with a tank full of sediment; there's a lot of gunk in their underground tanks and when the tanker tops it off the filling action stirs up a lot of that ****. Try filling the tank with some high-quality 87 octane (91 will make it worse) after putting a bottle of fuel system cleaner in the tank. You should also try pulling the codes; some codes do not cause the check engine light to illuminate but are still stored by the PCM. If all else fails, go back to the basics... fuel, spark and pressure. If you can eliminate two you should be able to make your job easier.
this is going to sound kinda stupid but i had the same problem with my 88 earlier this winter . It could be as simple as water in your fuel. the solution would be to put HEET in the tank. I prefer the red can unless you have a diesel. I live in interior alaska and if you let your tank get below a half it will condensate inside. This sounds to simple to be true, but if you live in a cold climate it makes a big differance. Water will make it run like ****.
it may be idle control sensor or a bad mas air flow sensor--maf sensor in otherwords. or could be engine misfire at cold temp. start. only time when cold? or does run better when warm? try warming engine to operating temperature before driving,if problem removes it's self after warm up,up grade gas to 93 octane for 1 tank full. then see if problem goes away. it's cold where you are right? if so the fuel needs to be at least midgrade 89 octane fuel because 87 octane fuel will not start your honda correctly at cold temps. in cold weather 93 or super gas octane will start ,no problem,low octane fuel sometimes gels, or freezes at low temps. if in warm climate, change the fuel filter, add fuel injector cleaner to your fuel tank[preferablly lucas fuel treatment] this will lube your fuel injectors and give better fuel mileage. thank you for choosing fixya.com
It sounds like you may have picked up some small debris from the bottom of the gas tank when you ran it empty. You may need to run a fuel/injector cleaning solution through the next tank of gas to clear the debris and consider changing your fuel filter too. Sea Foam is a great fuel additive and I recomment trying it full strength. Hope this helps!
Is the check engine light on? If it is, take the truck to an autoparts store and have them use a scan tool to retrieve the fault code(s) stored in the computer. I would suspect a faulty throttle position sensor or bad EGR valve, but the code(s) should narrow the problem down. Sure hope this helped.