Your 91 is a passenger-side-drop. It also has real kingpin Dana 60, not the wimpy balljoint pseudo-D60 your 95 has. NOTHING but the ring and pinion will interchange between the two. The wheels won't even swap due to the larger hub diameter of the 95.
Ironically, almost all front axle parts, including the entire front axle, will swap between a 1st gen Dodge and 87* and older Chevy K30. Good stuff! Chevy d60's had 35 spline inner axles and I believe the dodge D60 had 30-spline just as the 2nd gens used. So the chevy D60 was a little better. (* crewcab K30s up until 91 still used the "old" body style and still had Dana 60 front axles, but not regular cabs)
You can, however, find a balljoint Ford dana 60 (driver-side drop) with lockouts and use everything from the balljoints on out on your 95, but will need to buy aftermarket 1-piece 1. 5" diameter axle shafts and stub shafts. Now your axle will be as strong as it will ever be, but still not as strong as the 91's since it will still have balljoints instead of kingpins. Your current 95 axle shafts are the same diameter as 1/2 ton Dana 44 axles. Wimpy!
You have the right idea, and live-bearing hubs and lockouts and solid, full-1. 5" diameter dana 60 shafts are a big improvement, but none of that will solve the major steering/suspension problems that also came with your 95 that your 91 does not have. It was a horrible change for the far worse that dodge did from 94 on up and short of a completely custom-built axle and suspension, there is no easy or even effective cure.
If, like me, you like the creature comfort improvements of the 2nd gen over the first gen (such as a more spacious extended cab), then I truly think you would be money ahead figuring out to how to put a 2nd gen body on a 1st gen chassis. Then you'd have a real truck and comfort. But given all the expense and hassle, if you are comfortable in the 91, don't ever part with it. The 95 has a slightly better Cummins and a better manual transmission (if both are manual), but perceived appearances and comforts aside, the 91 is simply a much better truck, including the NP205. The front end issues with 2nd gens outweigh any and all other improvements over the 1st gen, imo. They never end or stop costing you money. It's an incurable design defect.