We propose a minimal setup in order to realise dynamical inflection point inflation along while generating the baryon asymmetry of the universe via leptogenesis and dark matter simultaneously. A dark SU(2)D gauge sector with a dark scalar doublet playing the role of inflaton is considered along with several doublet and singlet fermions sufficient to realise multiple inflection points in the inflaton potential. While some of these doublet fermions play the role of dark matter, the rest of the fermions can play non-trivial role in generating light neutrino masses via seesaw mechanism while also leading to non-zero lepton asymmetry from out-of-equilibrium decay of heavy fermions. While inflationary dynamics also control the lepton number violation necessary for the origin of Majorana light neutrino mass and leptogenesis, production of dark matter occurs via non-thermal or freeze-in mechanism.