The best thing you can do for teeth is brush them regularly. My dog is 10 and has NEVER needed a cleaning and his teeth look as white as a puppy's. I've fed soft home cooked food their entire lives. Kibble will not remove or prevent buildup on the teeth - you need to brush and do dental care.
If you want a 'gravy train' type kibble, Merrick Grammie's pot pie kibble is such that if you add water to it, it makes its own "gravy." While I do not use this food now (or any commercial dog food for that matter), I have used it in the past and my dog's liked it and it was a little softer.
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