Bad PS pumps are pretty common on Dakotas and Durangos. Check your pump shaft, all lines AND rack for a leak. If there's no leak, you could try new fluid and some power steering conditioner (BG makes a good one, it's about $10 a bottle). If the noise and rough steering persist, your pump is likely bad and will require replacement.
Also, if your truck uses a plastic pulley on the pump, better have a new one on hand when you go to do the job. Plastic Chrysler power steering pulleys are JUNK, and it is sometimes impossible to pull them off without destroying them, even with the proper tools. If you buy a remanufactured pump, get one WITH the reservoir already on it. Trust me, they are a nightmare to get sealed up if you have to reuse your old reservoir.
Edit: Almost forgot this, but it's important. While servicing your pump, check your power steering pressure sensor. If the wiring plug is wet inside with fluid, replace it. The wiring coming off the sensor goes into the same harness as your O2 sensor wiring. As crazy as this sounds, power steering fluid from a leaking pressure switch can leach into your wiring harness, destroy your O2 sensor and plug up your catalytic converter. I've seen it happen more than once, and any Chrysler dealer mechanic has probably seen it. The pressure switch is cheap, and it can save you a very costly and aggravating problem later.
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