my 99 corolla is like that. Pisses me off to no end. My 06 4Runner, however, is not. It will resume after a complete stop. I figured it was something that they changed over the years. I wonder if it's something broken on your truck, or if the 04 just wasn't programmed that way yet. Either way, I would try to get an answer from the dealer. Of course, that's assuming you can find a dealer that knows anything about Toyotas