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This sounds like a possible bad connection in an engine compartment wiring harness. When shifted into gear, theengine will move somewhat in it's mounts and when it does this it normally moves wiring that connects the engine to the chassis. this condition can be aggrivated by broken mounts, which are very common on these vehicles.
Try shaking engine comparment wiring harnesses around and pulling lightly on connections with the engine running in park; if you can make it stumble or stall, try to narrow down the location untill you find the problem.
Inparticular, crankshaft position sensor wiring faults or loose plug at the crankshaft position sensor may cause a sudden stall.
You don't try to 'shake' or 'wiggle' the engine... you wiggle the wiring harnesses (as you were told ;)
There are other problems that can cause this.
Does it happen everytime?
Have you tried pressing down the brake with your left foot and slightly raising the rps with your right foot... and then shifting into gear? Don't attempt this if it's at all possible you can't do so safely.
There is a tsb that may apply, I'll post it if I solve a download problem...