In short: they didn’t need to.
The reasons they didn’t need to are more multifaceted.
Before humans had modern diets, our teeth likely did not break down as often as they do now. There was a question posed here before asking why small tribal groups of people seem to often have such nice, white teeth. And that’s largely related to diet. Modern diets are very sugary and acidic, and break down our teeth faster without proper dental care.
We are also living longer. That gives more time for not just teeth, but every part of our body to break down.
There just doesn’t seem to have been (or currently exist) sufficient evolutionary pressure for us to have evolved the ability to heal teeth. We got by just fine with the two sets we get, and they break down or fall out under stress over time.
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