Don’t be silly! Small breeds are notorious for having lousy teeth, no matter what you feed them.
I like Fromm https://www.gofromm.com/fromm-family-small-breed-adult-gold-food-for-dogs
I would add water, if your dogs are doing well on soft food I would continue that. Check out Fromm’s grain inclusive formulas, dry and canned, maybe a combo of both would work?
You can presoak dry food overnight in the fridge and it has the consistency of wet food.
Have you tried brushing their teeth once a day?
Check YouTube for how to videos, it’s never to late to start.
