Easiest things first, have you cleaned your throttle body in the last 30k? If there's to much carbon build up, it will prevent the engine from getting enough air, and it will stall.
Next, some of the earlier CR-Vs have an idle adjustment screw on the top of the throttle. There's a procedure to adjust it. If that's not set correctly, it could be your problem.
There's also a Thermo valve on the bottom of the throttle body that increases the idle speed when the engine coolant is cold. That could also be your problem.
I would also check the transmission fluid, because it would stall the engine if the torque converter is partially locking up when it should be unlocked.
Next, some of the earlier CR-Vs have an idle adjustment screw on the top of the throttle. There's a procedure to adjust it. If that's not set correctly, it could be your problem.
There's also a Thermo valve on the bottom of the throttle body that increases the idle speed when the engine coolant is cold. That could also be your problem.
I would also check the transmission fluid, because it would stall the engine if the torque converter is partially locking up when it should be unlocked.