So the answer lies with necessity. Humans never needed to regrow teeth because we rarely lose them enough to not function properly, sharks for example continually regrow teeth because they really entirely in their mouths to hunt and eat food but apes have basically always used their hands as well as tools to gather food and prepare it to cause less strain on our bodies. For a medical explanation it’s as simple as sometimes cells get lost on their way to the correct area when we’re still a fetus, and because these cells are programmed to do one thing they end up causing small problems like teratoma
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