There is a relearn for the idle but I always forget how to do it! One thing you could do is leave your battery cables disconnected for a few hours and then reconnect and start the truck. I think I had to do that once since I owned my truck and it helped!
This^^^
When you lost battery power, you lost the learned idle speed. It will eventually learn itself again.
I too think there is a way to do it without a scan tool but can't remember.