If it's doing this only at an idle and it's not overheating, I'd say your coolant level is low or your heater core is partially plugged! Are both hoses going to and from your heater core in the firewall both hot to the touch when the truck is fully warmed up? You say that your coolant temp is at 210 at an idle, what does it do when you get up to highway speeds and the heat stops coming out of the vents? If it drops alot, your thermostat might be stuck open and not closing when it needs to (happened to me with a 3 month old thermostat, changed it out and problem gone).