For graduate entry anything, there probably isn't a 'typical' entry route. So the university will consider each individual application on its own merits. This includes qualifications and academic references, but also experience and professional references.
So: you have a top grade in applied science BTECH, a science 2.1 degree in a healthcare discipline, and a year's experience of working in an NHS setting. Write that up, presenting yourself as the ideal candidate for graduate entry dentistry & applying your current experience to the entry requirements for the courses. Then send an email to the course administrators of your target universities, enquiring as to whether you are a suitable candidate to make a viable application (and if not, ask why, or what you could do to strengthen your application).
This sounds easy but of course it isn't - it requires a lot of thought and research.
It's pretty unlikely at this stage that they will ask you to take A levels - you're well past that (and need to position yourself as a healthcare professional not a school leaver). But they might flag up your lack of experience in dentistry - is there any way at all that you can gain some experience within your NHS trust, or even consider applying for trainee dental nurse positions, or using any other contacts that you can think of to begin to demonstrate a commitment to dentistry?
It does come across as if you're scared of putting in an application and being one of the 95% who don't get a place - so stop thinking about it as 'making an application' and start thinking about 'things I can do to prepare to make a better application.' All the research you do towards that will help you consider alternative routes out of podiatry even if it doesn't ultimately lead to dentistry.