They are all six speeds but there have been 4 variations used in RAMs. There is no mechanical difference between the lighter duty 545RFE and 65RFE transmission used in 1500s but the newer software introduce in 2012 uses a different shift strategy. It uses all 6 gears when up shifting and downshifting, where the older one skipped one on the upshift and skipped another one on the downshift (these ratios are really close). Also the 65RFE alows you to pick all six gears via the ERS. Most think its a marketing thing so they could advertise/exaggerate the difference.
The 68RFE, introduced in 2007 I think, is a beefed up versions of the 545RFE, including different gear ratios and shift strategies. They were used in the more HD trucks. I don't think they are easily enterchangeable. The 66RFE was introduced in 2012 as a lighter duty 68RFE (the 68 was used in diesels, maybe others, the 66 in V8s)
Allpar.com has a lengthy description.
http://www.allpar.com/mopar/transmissions/545RFE.html
and
http://www.allpar.com/mopar/transmissions/68RFE.html
The new 8 speed replaced the 65RFE in light duty trucks.