You have to pick:

At first, it would just be annoying, but eventually, your toe would get quite badly damaged, and it wouldn't get much of a chance to heal between stubs.

That would actually be pretty awesome

Do I have to brush my toe teeth? Is there special toothpaste for use on the foot?

but you could start wearing shoes so it does not hurt as bad.

You have ten toes, it doesn't have to be the same toe each day.

I think you probably would have to brush them. Although they wouldn't get as much on them as normal teeth, so perhaps they'd be ok. Maybe just careful washing when you normally shower would be sufficient.