I also feed them primarily kibble and crunchy dog treats. They also chew on dental chews, kongs, flossy rope toys, greenies, etc. My mother's bichon's teeth mostly fell out and he did get several dental cleanings. Lucky had minimal tartar on his teeth at 13. Never needed his teeth to be professionally cleaned.
The cats will not allow their teeth to be brushed. They eat kibble and crunchy treats. Wet food is an occasional treat. They will let me scale/scrape their teeth to remove major tartar.