Yes, a crack on an exhaust manifold or header will suck in O2 from the outside and the O2 sensor will tell the fuel system to run more fuel and makes it run rich. Not good at all. I'd get that fixed, I had the same problem on my very first car, a 92' Mitsubishi Mirage Hatchback, there was a crack in the manifold, and even with the new O2 sensor in there, the car ran rich, and after heat welding the crack, the problem was fixed.
And when the range shifter is in Neutral, the truck should not move anywhere. You may have to adjust the linkage or something. Good luck man, hopefully doesn't beep all the way to MRM. 
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Pat Albaugh, Midwest Moderator
"Diffage" -the point at which the truck's differential makes contact with the ground.
http://www.cardomain.com/id/RageRover42Visit my RRC and others here!(updated as of September 15, 2006)
1995 RRC LWB
-LT265/75R16 Pathfinder All Terrains
-RTE 2" Lift Springs
-Pro Comp ES9000 Shocks (from DAP Enterprises)
-KMC Front Diff Guard
-4 Desert Fox 55 watt Lighting
-Radio Shack CB Radio (never know when signal fails on a cell phone)
-2 Halogen Super Sport 100 watt forward lights
-Custom slim style front bumper w/ integrated bull bar
-Lowe's Special "Homemade" Snorkel
-T-Case out of an 92' RRC
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