Things were going along OK until you wanted to keep the 6 lug bolt pattern.
Axle swap information is extremely hard to come by, and that would probably be from someone who desperately wanted to swap just an axle for some reason and those two were all he had. The different bolt patterns will eliminate any exchange book from telling you they are interchangeable, even if they actually fit.
The Dakota 6 bolt wheel pattern is strictly Dakota, early Durango, and Viper! If you cab find anything, the Viper direction may be a possibility, they are old enough some parts might be available. I have no idea what the rear suspension was on them, but they could provide traction for the V10.
Since your digging into strange offerings, a 4x4 front axle set up from a 91-03 Dakota (and Durango through at least 07) have a torsion bar suspension with an independent center section and axle shafts. Those front ends have A frame upper control arms and lower control arms the torsion bars attach to The wheel bearings are mounted between the control arms, and the axle shafts pass through the bearings (the system is the same from 91 through the Durango Hemi trucks). A fixed outer bearing mount, or even a fixed tie rod set up would solve the front axle steering issue.
Put your thinking cap on! Might be worth looking into!
I'm here to help... LOL!