Yea, you'll have to go to the dealer to have it enabled. While in Park start the truck, turn the cruise on and then hit the set button. Truck should idle up to 1100RPM. if you hold the ACCL/Resume button the truck will idle up to 1500RPM. If your truck won't do this then go to the dealer and tell them you want the PTO high idle turned on.
The easier way is find someone with a S06 Smarty and have them load any level of the smarty software and then put the truck back to stock. All smarty softwares including the stock software has the PTO High Idle enabled. This is you cheapest route because the dealer may charge you an hours worth of work. Heck if I lived closer I'd load my smarty software on your truck for you, but It's a long drive from Michigan to North Carolina.