What would cause the engine to stall when the vehicle is put into gear. It is an automatic transmission.

When the vehicle is idling the engine is running fine. But when I put the vehicle in gear the engine stalls. I have tried to give a little gas when the vehicle is in gear and the brakes are applied. The engine does not stall but engine sounds weak. Also when I take off in drive the vehicle is very sluggish, but when I put the transmission in manual 1 the vehicle takes off good. I did not try to upshift manually to second. The engine is a 5.8 liter not to sure about the transmission it might be a c6 or a e4OD. I scanned the vehicle and I found some trouble codes, don't know if they are related to the stalling of the engine. The codes are 126 manifold absolute pressure/barometric pressure sensor is out of self test range, 522 vehicle not in park or neutral during KOEO, 565 canister purge solenoid circuit fault, 569 auxiliary canister purge circuit failure. Thanks you for the reply I really appreciate it.