My 05 SuperCab did something terribly similar on the freeway on my way to work a while back. No check engine light came on until that evening when I cranked it up to go home. It yielded the P2106 code by itself. More on that can be found here.
P2106 code?
One free trip to my local mechanic, PLUS a trip to the dealership for their $130 diagnostic fee later, we determined that I should replace the throttle body. Of course the dealership wanted to do that, as well as replace the fuel filter, flush the fuel system, AND clean up the EGR valve. They pulled a second indeterminate generic diagnostic code also. They wanted $900+ for the job.
I replaced the fuel filter myself. Ford Direct Online had the throttle body for about $185 (compared with $265 from the stealership). My mechanic said he'll do the install and flush the fuel system for $150.
Here's the kicker. The dealership pressured me (of course) to get the entire job done that day if not sooner. When I declined, they told me that the wrench light and check engine lights would stay on and the truck would probably be immobile. I asked them to finish the oil change and prep the truck for me to pick it up that evening. When I picked it up, it drove like brand new. No warning lights, no hesitation, nothing.
That was 3 weeks ago.
Since then, I've cleaned up my battery lines. The negative cable had about a palmful of corrosion that cleaned up really nicely. I also swapped out the fuel filter. I am a totally mechanically uninclined amateur, and I can only work on the truck in the spare time between my 2 jobs, so I'm currently in the process of cleaning the intake ducts and filter housing to work my way to the throttle body. Depending on what I find when I get there, I may or may not replace it entirely. I'll have to see.
But, like I said, the truck is running PERFECTLY.
I'm no mechanic, but you better believe that I'm listening and feeling every time I get on the freeway for abnormalities. NOTHING. So here's my take. Let it ride. See when or if it happens again. Check out the P2106 post and it will probably confirm the possibilities. But your truck may be fine. I'm a computers guy and sometimes, they just glitch up. Sometimes all they need is a good once-over and a couple of Ctrl-Alt-Del strokes. Keep us up to date, and I'll do my best to do the same. Best of luck.