I think some dogs are genetically more prone to dental problems than others, some are lucky and have no problems at all.
My old Border Collie x Belgian Shepherd had beautiful white teeth all her life, right up until we lost her at 14, yet I never brushed them or gave her anything specific to help her clean them. She was on a raw food diet for the first half of her life, so that might have helped to some degree, but she was on the same kibble as the other dogs in for the last few years and I still didn't need to do anything with her teeth, whereas I had/have to stay on top of the others' to keep them healthy.
Greyhounds and Lurchers can tend to have a lot of trouble with their teeth, so I'm perhaps over-careful with mine.
I don't brush their teeth daily, but they get the above mentioned treats, plus Plaque-Off and I brush and scale their teeth about once a week.
I like the Whimzees treats, because they do the same job as dentastix but don't have any sugars added. They're not cheap, but you can buy in bulk online and that brings the cost down.