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This engine is electronically controlled so the first thing that must be done here is to have the systems control computer tested for fault codes and then do the proper diagnostics based on those codes.
Vacume leak or bad idle motor. With the car in park and running with the hood open listen for leaks moving your hand around the different hoses looking for a change in the sounds that you hear. The idel motor also makes the car idel up to 1500 RPM or so right at start-up then idel down, If it doesn;t the idel motor is likly. Check engine light is on when running? Test for codes, Follow code test charts don't skip any steps!.
If the battery and alternator tested fine. I would have the charging system rechecked when engine is hot and at high rpm's. This way the checks are being done as if you were driving and driving for a long time. Alternators can work fine when cold but weaken when hot or stop working. This problem is not rare but only is seen occassionly. Unless it was checked at an electrical shop the average shop doesn't run these tests for they don't see the problem often enough to automaticly run them at all times. Good luck and let me know how you make out.
seems to me there may be a problem with the transmission, because you say it runs fine in neutral and dies when you put it in gear!!!
only logical thing if everything else you mentioned has been ruled out!!!