Do you know the model year of the truck and the identification of the engine?
There is no TAC Module. The ECM controls the throttle position.
P2101: The indicated throttle position does not match the predicted throttle position for greater than 0.3 seconds.
The ECM is commanding the throttle to a specific position and the throttle position indications don't match with what the ECM wants.
When was the last time the throttle body was cleaned?
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Chevrolet Colorado & GMC Canyon Forum
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