01 chevy 1500HD truck starts roughly w/cold start
 

I cleaned the throttle body, cleaned air filter, r&r fuel filter but still have same problem. Truck runs great except for the initial cold startup and there are no hard or soft codes. Could the IAT cause this problem?

Take the IAT out of the TB and pull on the pindle and see if it moves freely. If not then it is stuck. If it does then its ok. When reinstalling it, you will notice start up it will idle really high. That is normal. Let it idle by itself for 10 mins so it relearn.