1996 Jeep Grand Cherokee grand cherokee

i have a 1996 grand Cherokee v8 5.2L 318 starts and runs fine when cold but when it gets to its temp she stalls out and does this when i try to go from park to drive and after doing that for bout 5 to 6 times she wont start unless my foot stays on the gas and if i take it off she will quit....can u help me changed the fuel filter and coil is good fuel pump is good temp sen is good....only does this when its warm