Dodge Dakota taillights are not the same. They may look the same but they are totally different. The Comanche taillights have 3 bulbs in them while the Dakota taillights have 2 bulbs and the taillights mount differently too.
I'm assuming you meant you have an AX-5 in your 1985 Cherokee with the 2.8L V6. The Peugeot BA-10/5 will not bolt up to the 2.8L V6. The bellhousing bolt pattern is completely different.