How to connect MPU6050 to arduino using only digital pins
The MPU6050 communicates over I2C. I2C uses clock line SCL and data line SDA. I2C pins on Uno are pins A4 and A5.
This is because the ATmega328p MCU used on Uno has the I2C peripheral on the same pins. It has nothing to do with the DAC function of the pins.

Alternatively MPU6050 can communicate over SPI. This are pins 11, 12, 13 on Uno and one more pin for CS. Pin 10 must be output while ATmega328p is SPI master so it is recommended to use it as CS for the SPI slave device.   EDIT Sorry, only MPU6000 has SPI.