My F350 has been doing that since it was new. It will scare the crap out of you, if you are not expecting it (and sometimes when you are). I took mine back to the dealer three times, about this "problem". Each time, "technicians" drove the truck, and said that is the way they work, and that nothing was wrong with it. I had it happen this morning on the way to work, when traffic went from 60 mph to 0 mph suddenly. Mine is worse on wet roads, of course. Even at that, I had cars behind me running of the road to keep rom hitting me and other cars.
If you find a fix, I am interesting in knowing what it is.