Once upon a time ago I was an HVAC Tech. and since my hobby is automobiles I always had chilly A/C.
1st thing - What Sam said,
2nd - (no specifics on your truck - no truck profile) assuming newer truck (as this is your first post and you are still dealing with the dealer) You may have a slightly restricted suction side strainer, which would trip the low suction switch. The low suction switch is a safety designed to protect/shut off the compresser clutch during a low refrigerant pressure situation. If it's OK at speed/other than idle the strainer may allow enough refrigerant to pass and cool the cab, then restrict again at idle. Sometimes things work their way into places they shouldn't on assembly lines during break times?
3rd - Check to see if your condenser coil is restricted - ton-o-bugs in the fins.
4th - Bad freeze stat (located on the evaporator coil in the heater box) This device is another safety, it's keeps coil from icing up and damaging the evap. It could be quick cycling on/off while at speed and you wouldn't notice.
5th and hopefully not your problem - Low refrigerant due to leak. On my truck (99) a line (located by the oil filter) to the compressor was rubbing against the turbo discharge pipe (to the intercooler) and wore away some of the aluminum pipe

I adjusted things and protected this situation with a short length of split fuel line and pull ties.
6th - A wire is rubbing somewhere and interupting the clutch circuit. Only happens at idle due to increased engine wiggle which smooths out at speed.
I'm really stretching with that last one but, as you can see by now the possibilites are really unlimited. If your dealer can't figure it out you may want to try another one. Don't feel obligated to the dealer where you purchased your truck, be moreso obligated to all the hard work you are doing to pay for your truck and get it fixed right.
Let us know what they/you find. Happy trails and welcome to the TDR.