I have now linked the teeth to a dummy. This was so that I could move the teeth together as a tester to see if the mouth would move with the teeth properly. The dummy is useful as it allows me to move the teeth without actually having to select both teeth objects separately in order to move them.
Below shows how the teeth were animated with the mouth. It was achieved by moving specific verticies and just moving up and down at a time. Also, when I do move the mouth to animate, it can only be done when the PathDeform modifier is off, othewise it will not record it animating.
Below shows a video of the mouth moving.
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