1997 dodge dakota stalling when shifting to both reverse and drive and sometimes when turning left or right while changing gears, also when pressing the brakes in park the idle slows and picks way up

This might not be engine related. More information please. Does this happen only when you turn the steering or all the time? Is it just when reversing or both directions? Test this by reversing slowly in a straight line for about about one truck's length then gently start turning the steering wheel. Listen and feel for what happens as you turn the steering.
Transmissions can also affect how an engine behaves when their put into gear. Do you know if it has been serviced in the past?
Have you had it scanned for OBD Trouble Codes? All cars after 1996 have to have this system fitted. Scanning for codes will tell you if it is a sensor causing the issue.
If you have to pay for the service ask at 4 or 5 different places as prices can be VERY different. Comment below with the codes and I'll try to help you more.

Gear box probly needs work..gears that turn drive shaft gut issues

To much difference between 04 and 97. To use an 04 ECM, you need the trucks complete wiring harness. Then you would have to change the transmission also. You better get in line to sue him also..

Put truck in reverse and zig zag backwards turning truck left and right will take it out of four wheel when stuck.

You lost your 2-4 and that is normally the Band or Drum

Tourqeconverter lock switch or sensor////

Can you disconnect the linkage at the transmission and manually shift the trans into park ?

Some possible causes could be:

Vacuum leaks cause an engine to run lean witch can cause the vehicle to stall when put into gear.

Improper base idle adjustment can cause the vehicle to stall when shifted into drive or reverse

A malfunctioning or damaged carburetor can cause the vehicle to stall when shifted into drive or reverse

Improper ignition timing can cause the vehicle to stall when shifted into drive or reverse.

A malfunctioning or damaged transmission or torque converter can cause the vehicle to stall when shifted into drive or reverse

possible filter needs changing or valve in transmission is bad.

it doesent have to be slipping to go bad.youve lost reverse and it could be the solenoid on the side of the trasnmission but i dont think so since it would affect all the gears