Blue Ox made a baseplate for that series of Dakota pickups (91-96). It does not fit the Sport. It is in the current on-line catalog, but you might have difficulty finding a dealer or distributor with the baseplate in stock.
Driveshaft disconnect will be your real problem towing that truck four down. I have seen people crawl under their truck to disconnect and tie up the driveshaft each time they hook up, then undo that each time they want to use the truck. I'm not inclined to go that far just to tow a vehicle I already have, when there are more readily towable alternatives in the used vehicle market (e.g. for light-medium pickups, manual transmission Nissan Frontier and manual transmission Ford Ranger since the late '90s).