WHAT HE SAID ^^^^
you should have a 2wd rwd ranger.
also as a point to lifitng 2wd trucks espically 1/4 tons, they are actually prefered for baja and desert racing. as the waight and additional drag of a 4wd isnt worth the additional powered wheels.
if its a 95 it should still be the ttb front end and they make many kits for lifiting it. depending on what you want to spend put a lift kit on the front, flair the fenders and add 33's and add some leveling blocks to the rear or you could do a cage suspension set up in the rear and make it a full functioning desert rig.
its all about the budget and your skill set
i guess i skipped the baja part, i live on the opposite side of the country for that tho so i never really thought about that