2001 Windstar stalls in drive and not in reverse

I have taken my van to the shop 3 times now. I’ve changed the fuel filter, Idol air control motor and the cam sensor (twice)! Nothings worked.

It will drive fine for 2 to 3 weeks and then suddenly the battery light flashes on and the engine cuts off. If I start it back up and try to drive it, it dies again but if I start it and put it in reverse I can reverse it home. Oh yeah, and it usually always dies in the same spot about 8 house from my home!

Any ideas would be great!