I got that code and had to pull over to the shoulder. I turned the key off, waited about 60 seconds and then restarted the engine. It worked fine for the next 800 miles and three days.
We were heading to ID and part of the trip in ID was through a canyon with no shoulders.
The local Workhorse dealer in Grand Junction CO admitted that he had no way of determining which of the two possibilitys (TAC module and the TAC pedal assembly) was the problem so I bought the two items and replaced both myself.
The large plug on the module and the plug on the pedal assembly each have a connector with a keeper that has to be removed before the tab on the side of the plug can be squeezed to release the connector. The keepers pull up and out of the connector and then the tab can be squeezed.
On the pedal assembly it was easier to remove the three bolts holding it to the bracket and then remove the keeper and connector.