towing Dodge Dakota

Probably not.
However, there MIGHT be a way, but it just might get messy. It may be possible to remove the fill plug from the side of the transmission and install a "street ell" pipe fitting in its place, with the opening pointing up. Then, fill the tranny with lube until it runs over, and put the plug in the street ell opening. Doing this might raise the level of the lubricant in the tranny to the point where the output bearing and mainshaft center bearing will be lubricated. It might also raise the level to the point where it will foam out of the vent and make a mess under the truck.
Yes, definitely, read the Owners Manual. Towing instructions are probably in there.

First place I'd check is your owner's manual; if you don't have a manual, go to a Dodge (Ram) dealer and get their opinion.