I installed a 6-lug GM 9-1/2" semi-float rear axle in Lil Red. This replaced the original 10-bolt rear axle. At the same time, I fabricated disc brake mounts so I could install 2000-2003 model year 1500-series rear disc brake components.
There may be 5-lug 9-1/2" axles out there, but I'm not sure.
If it's in the budget, a custom Dana 60 could be built for your app, but a complete custom axle is close to 3K$. That's about what my 9-1/2 cost, when adding the cost of the salvage axle to the new Eaton posi, new 3.42 gears, new bearings/seals and the disc brake components. I also upgraded the driveshaft's rear u-joint from a 330 to a 350.
By the way, the 9-1/2" has held up well with more than 600-hp and 1200 lb-ft (short term and a light truck).
Jim