Not true, although “any era” is vague. There were plenty of times and places, mostly but not only within the hunter-gatherer realm, where tooth decay was practically non-existent, although tooth wear, buildup of tartar (a treasure trove of information to us about past lives) and cracked teeth were common, and in the latter case, potentially deadly, occurences.
The now-pandemic Caries bacteria had a much smaller range in Stone Age times, while diets and therefore mouth floras were much more conducive to teeth and gum health than ours. This is a hot topic of study, with said evidence in the tartar on the hundreds of Paleolithic and Mesolithic individuals we have to look at.
For a sample study, see e.g.
Adler, C. J.; Dobney, K.; Weyrich, L. S.; Kaidonis, J.; Walker, A. W.; Haak, W.; Bradshaw, C. J. A.; Townsend, G.; Soltysiak, A.; Alt, K. W.; Parkhill, J. & Cooper, A. 2013. Sequencing ancient calcified dental plaque shows changes in oral microbiota with dietary shifts of the Neolithic and Industrial revolutions. Nature Genetics 45: 450 – 455.
On the lack of crooked teeth before the advent of agriculture (and before modern times), there’s research like this:
Pinhasi, R.; Eshed, V. & von Cramon-Taubadel, N. 2015. Incongruity between Affinity Patterns Based on Mandibular and Lower Dental Dimensions following the Transition to Agriculture in the Near East, Anatolia and Europe. PLoS ONE 10(2)
It is also funny to go from “any era” to “the royal and wealthy”. For roughly 95 % of our tool-using past, there weren’t any royal and wealthy people, to eat sugary foods that the common folk didn’t get.