A high quality canned food or a correctly balanced homecooked diet will meet his needs just exactly as kibble would. If you are worried about his teeth, they should be brushed no matter what he eats. General vets know very little about nutrition and it is best to get a recipe from a nutritionist. Feeding homecooked long-term with proper supplementation can do a lot of harm. Dogs don't need kibble either.
Different dogs do well on different foods but I wouldn't give up on kibble too quickly if that's what you want to feed. How about just putting a few pieces in with each homecooked meal and then gradually increasing? I have heard some reports of Wellness and stool issues, so maybe something else would set better.