When on long trips on the highway and using the cruise control, I get a TPS code. It will take a hour or two before it comes on. Is the TPS going bad?

I never get the code just with city driving and some highway.

 

Just check for codes although the light may not be on.It might just need replacing if it does that though.

 

check out the connectors and clean them. then check specs on the tps.