Eurosport have something recently launched, called "Eurosport Player" do a search for it, it is a regional service, so not sure if you can access from USA, but If you are on a budget you can sign up for a month for only £3.99 (but have to remember to cancel). There is also an annual subscription which gives you coverage of a load of other events.
First Dakar programme is a preview show "Destination Dakar" at 22.00 on next Wednesday 28th December.
Hope it helps, good opportunity to get some extra shows i guess.
'10 KTM 450 Meca Rally,'09 KTM 250 EXC, '98 CCM R30M Supermoto prototype