Broad answers because there are so many things that can cause it. I take it your warranty is done. Have you read about the TIPM problems?
If this was a 4th generation van (01-07) I would jump on here and say it's related to the Idle Air Control (IAC) valve that allows air to bypass the closed throttle plate at idle. As I understand it there is no such animal on your 5th gen van because it has an electronic throttle system. Idle RPM is now controlled by your pedal, the PCM and a motor on the throttle body. The little I know is there's a transducer on your throttle pedal that sends electrical signals (no more steel cable) to the PCM. The PCM commands the motor on the throttle body to move the throttle plate which regulates your engine RPM at idle or at speed. Something may be amiss in that chain. Logic is telling there may be a sensor effecting your idle or there may be a calibration or reprogramming procedure to correct it. That is pure speculation. Enough of that. Hopefully, someone can help you further.
By any chance have you seen the ETC light come on? That tells you the electronic throttle control has a problem and a code is stored. Looks something like this minus the white border:
http://repairpal.com/images/managed/...ntrol_Bolt.jpg
Continuous stalling? That
does not mean it starts and immediately stalls correct? That would put the anti-theft system at the top of the list.