Depends on mileage but tune-up is more likely. Sometimes if you stop and quickly get back on the gas there will be a delay especially in a 4wd truck. That's fairly normal in consideration of drivetrain wear. 

If it feels more like a stutter I would say do the tune-up and make sure to hit all the serpentine components and the ignition system. If it just feels like a delay at take off its more likely just the torque converter taking its sweet time to get the power to the ground. As a general rule cars should be tuned up around 100,000 miles so if you know it hasn't been done go ahead and get that done. Even if it doesn't cure the problem it still has to be done.