There is an old saying. "If there's a will, there's a way" In trucks, it's all going to come down to 'how much are you willing to spend'?
There are a number of possible ways to lift your truck, but you may not be able to lift it that much. Starting with the front end. The easiest way I could think to gain about a couple of inches is thru the use of spring spacers. What you're looking for is a spacer that will fit between the spring and the frame or spring and control arms. The question will be what spacer would fit. I recall a few years ago that some auto parts chains sold a universal rubber spacer that netted an inch or two of lift. If that's not an option, I do know that there are metal spacers for many different trucks. If one is not specifically available for your Dakota, you might be able to use a pair for another truck but you're going to need detailed dimensions to see what else would or could fit. A longer spring would also lift but you'll be on your own looking for a spring. In any case don't forget a front end alignment.
For the rear, you have a couple of choices. Replace the springs with a pair that has more arch or do a spring over conversion. Your springs go under the axle. Flipping them so that they are over the axle would give you about 4-5 inches of lift.
Next option is a body lift. Body lifts are a quick, cheap, and easy way to add lift. Some don't like them for atheistic reasons, but if there are little choices I wouldn't dismiss them as an option
Next is how much do you want to spend? If you can find a custom performance shop near you, they could build you a suspension lift, but it's going to be pricey and if you're going to spend in the thousands, it would be a better investment to convert the truck to 4wd.