Applying Transform Constraints During Animation

I would like each tooth to move in stages along the animation timeline, therefore, I can stop anywhere on the timeline and change the parameters in case I find the teeth are colliding with one another as they align themselves.
This is the animation I created:

Different view:

For better control, I would like each tooth to move:

  • 2-3 mm in either X, Y, Z direction at a time.
  • Rotate 3-5 degrees around X, Y, Z axis at a time.

This is the result that I am after.

How do achieve this? Keyframes? Graph editor?


Here is the animated blender file:

I’d keyframe the first and final positions first and then scrub along and adjust for interpenetrations anywhere needed