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We study the possibility of realising cosmic inflation, dark matter (DM), baryon asymmetry of the universe (BAU) and light neutrino masses in non-supersymmetric minimal gauged $B-L$ extension of the standard model with three right handed neutrinos. The singlet scalar field responsible for spontaneous breaking of $B-L$ gauge symmetry also plays the role of inflaton by virtue of its non-minimal coupling to gravity. While the lightest right handed neutrino is the DM candidate, being stabilised by an additional $Z_2$ symmetry, we show by performing a detailed renormalisation group evolution (RGE) improved study of inflationary dynamics that thermal DM is generally overproduced due to insufficient annihilations through gauge and scalar portals. This happens due to strict upper limits obtained on gauge and other dimensionless couplings responsible for DM annihilation while assuming the non-minimal coupling to gravity to be at most of order unity. The non-thermal DM scenario is viable, with or without $Z_2$ symmetry, although in such a case the $B-L$ gauge sector remains decoupled from the inflationary dynamics due to tiny couplings. We also show that the reheat temperature predicted by the model prefers non-thermal leptogenesis with hierarchical right handed neutrinos while being consistent with other requirements.