It is because of cooking. Humans lost the need to eat lots of raw and tough foods that put evolutionary pressure on the teeth of the species as a whole. This has ultimately caused human teeth to spread out. The space between teeth is the main problem that leads to premature decay and loss. This is also why humans often have crooked teeth unlike most other animals.
Also many animals “brush their teeth” in a different way by mechanisms like piercing skin of prey or seeking the right types of plants to chew on. If you have a house cat you may notice they often like to bite through plastic items like cords or plastic shower curtains as a way to clean their teeth.
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