Brushing teeth

Does anyone else have issues with their kids brushing their teeth? We’ve been doing it 2x daily for well over a year now & it’s still a fight everyday. She’ll take the toothbrush & do it herself, but as soon as my husband or I asks for it so we can brush, it’s such a problem. She runs, yells, & cries. We saw the dentist in March & she had a little inflammation in one area & he told me to just hold her & do it & after I tried that a few days, it just made it worse. I’m just at a loss as how to avoid the tantrums surrounding this 😩. Any & all advice is welcome!