Ron, imo, the crank & cam position sensors were a good place to start throwing parts at this.
I have read a ton of posts on the Dakota sites about these gen2s shutting down & going into a crank-but-no-start-mode, but unfortunately it is tough to troubleshoot something when it is working (as yours is MOST of the time). A lot of these gen2 Dakotas in crank-but-no-start-mode (both intermittent & terminal) seem to come down to buggy PCMs, and that doesn't seem to be totally uncommon for them. I recall a post by a guy whose Dak would shut down on him & restart after a period of time. He started wiggling & pushing on the PCM connectors & he thought he had diagnosed it to a loose receptacle on one of the connectors, but as things went on, it turned out to be a loose pin in the PCM itself. (If you want, I'll find that thread & post a link for you.)
If your issue ever devolves from intermittent to terminal, there are some checks that you could do that would either point at the PCM or away from the PCM; however, I realize that you don't want to wait for your problem to become terminal.
In the mean time, you might think about sending your PCM out to a facility that advertises that they can bench check it & diagnose it. If you do wind up taking your PCM out, be sure & disconnect the negative battery cable before you unhook it.
I have read a ton of posts on the Dakota sites about these gen2s shutting down & going into a crank-but-no-start-mode, but unfortunately it is tough to troubleshoot something when it is working (as yours is MOST of the time). A lot of these gen2 Dakotas in crank-but-no-start-mode (both intermittent & terminal) seem to come down to buggy PCMs, and that doesn't seem to be totally uncommon for them. I recall a post by a guy whose Dak would shut down on him & restart after a period of time. He started wiggling & pushing on the PCM connectors & he thought he had diagnosed it to a loose receptacle on one of the connectors, but as things went on, it turned out to be a loose pin in the PCM itself. (If you want, I'll find that thread & post a link for you.)
If your issue ever devolves from intermittent to terminal, there are some checks that you could do that would either point at the PCM or away from the PCM; however, I realize that you don't want to wait for your problem to become terminal.
In the mean time, you might think about sending your PCM out to a facility that advertises that they can bench check it & diagnose it. If you do wind up taking your PCM out, be sure & disconnect the negative battery cable before you unhook it.