Help! 2006 powerstroke 6.0
 

So I'm new to this site and I'm really hoping somebody on here can help me out. I have a 2006 ford powerstroke 6.0l fx4 it has 150k miles on it straight pipe exhaust with no other mods and I'm having a problem with the truck being really rough in the morning, it's perfectly fine when I start it but about 5 minutes into driving when I have my foot on the pedal it will get really rough and feels like the rear end is jumping off the ground, I can't tell if it feels like a fuel problem or not but it will only do it in the morning on the way to work and it will stop as soon as I let my foot off the pedal, it only does it 3 or 4 times right after one another then it won't happen again till the next morning.also I have a check engine light that I keep deleting and it keeps coming back every 10 miles, it says the exhaust gas recirculation is insufficient but the egr valve is brand new and my data stream on my reader says there's 0% fault with the egr. If anybody could help me with these problems that would be great, thanks

diagnosis
 

first it would be very helpful if you had a way to look at pids.. do you own a scan gauge or sct X4 so you can get in and see what your icp, ficm, ipr %, and ficm sync is?

No I don't have one all I have is a basic scanner

go to autozone and pick up a scan gauge 2.. best $150 you'll ever spend on that truck :tu: