Not sure if I got this right but o found this o. The Dakar website:
GENERAL
2021 Dakar Regulations comply with article 27 of the 2020 FIA Cross-Country
Rallies Sporting Regulations, except for art. 27.2.4. It is supplemented by the
following articles.
2) Throughout the Itinerary (Selective Sections and Road Sections), all Vehicles are required to drive with their lights on.
3) Towing and/or pushing by a Vehicle in Race is permitted, as well as by a Vehicle / Service Crew, when Race and Service are on the same Itinerary, including in the Control Zones.
No penalty will be applied.