There have been posts on this forum blaming an IDPM failure communicating with the ECM, but there are a number of diagnostics that need to be run to pinpoint a likely issue to delve into.. To not follow a set of rules for troubleshooting would be akin to doing your own brain surgery. You might get it right on the first try......or you'll end up a vegetable.
You need to find someone with the right tools (analyzer), right skills, and the necessary experience to decode your problem. I'm not able to do that for you. You may want to revisit that dealership and hold their feet to the fire on this as I explained earlier....and by all means, don't let anyone not a master mechanic touch your truck unless they're giving you a huge discount and a labor warrantee. If there are other dealerships in your area, meet with the service manager and explain what was done by another dealership and how that's not acceptable and you want to know how he'll go about having you get back on the road in what's known as first and final. First and final, means fixed first time and no call backs. Period.
If you brought it to me, the first thing I would do is go over the work already done to make certain the connections are solid, the sensors are in spec,...if all four wheels check out, next do an ABS controller diagnostic. Once the entire ABS system checks out, move on to ferreting out gremlins in other systems.
