Took RAV 4 to NC mountains and back twice this weekend. It ran fine but started it this morning and it would stall when I took my foot off gas pedal

check the vaccum hoses on the booster

the other may be part of cruse control

sometimes the other switch is to cut out the cruise control when the brake is applied. I would more suspect something in the fuel injection controls such as a mass air flow sensor or throttle "switch." your car is probably too old to have an auxiliary air bypass valve but if it has one look at it as well. good luck

are all the spark plugs have spark

When you press on the gas when the truck is running, does it rev up?

Did it die while driving down the road (foot on the accelerator) or when idle? - If so, try cranking it and get your RPMs up to 1500-2000 RPMs and put it in drive (with your other foot on the brake). See if it will continue running if you never take your foot off the gas.

Does not sound serious as long as the car otherwise seems to be doing what it should. Don't drive if the engine is running hot or it is leaking fluids. Start with fuel filter or faulty fuel pump. Could be other things but if the car has had regular servicing then should not be anything major eg broken breather hoses . I would get a mechanical inspection for piece of mind.

is the check engine light on.

The choke function is not working on a cold engine.
1 clean throttle body and IAC motor air pathways.
2. Check for engine codes, you are looking for a code that relatws to the wngine temperature sensor.

Check the plugs to the computer on the passenger side of the firewall. there are three of them, unplug them, wait ten or eleven minutes and plug them back in. if that does not work you might have a computer problem or a bad ground wire at the battery
By the way my 99 has the original plugs, wires, rotor, dist cap, and coil, from the factory. I have driven it every day for 11 yrs. over 12,000 foot mountain passes, four wheeling trips every weekend, and dozens of trips across the country. I have over 260,000 miles on it. I think you get the point...
By the way diesel boys this is a gas engine simply well maintained!!!!!!!!!!!!!!!

If the car actually ran out of gas, it could be air trapped in the fuel lines. it may take a few minutes for all the air to purge from the gas lines. The car may run rough during the process. The car should be fine after running a few minutes.