ELI5 Toothpaste - how did people brush before toothpaste?

How did people maintain their teeth before toothpaste? If the first modern toothpastes were not sold in tubes, what were they sold in? When did they add fluoride? Why can't our teeth heal like our skin and bones?

.. we explain like I'm five

Thank you to the r/explainlikeimfive community and in particular the following users whose questions and comments formed the basis of this discussion: dude-e, wenchister, the-illusiveman, duplojamaal, nemesis24k, perseus_turambar, who_cares_about_name and radbadtad

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