i've got a '01 2.0 tracker and had a similar problem at 55k miles. It would start fine but as you pulled up to a stop sign or traffic light the rpm's would try to drop to about 400 and almost stall out the truck. Turned out that the spark plugs were toast. I'd replace the fuel filter as well if that hasn't been done before. This would be a good place to start since both these can be done for $20 if you can turn a wrench. While I didn't do it, i'd recommend removing the strut brace in order to access one of the plugs.