Best treatment for failing teeth under insurance?

I am 30 years old and almost all of my teeth have at least minor fillings, I've always brushed and even flossed because I hate going to the dentist. Needless to say I was forced to go due to the cavities getting worse. Some of my enamel is starting to wear away and starting to hurt but I'm terrified to go to the dentist. What treatments would I be able to have done to preserve my teeth? Or will they all need to be removed? I don't want dentures at all

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