Brushing teeth

We brush my sons teeth twice a day, everyday. I’m weird about making sure it’s done and worry if we skip a night it will become a habit that’s hard to break. We’ve always brushed, since he got his first tooth and he’s always disliked it. It’s to the point where both dad and I have to do it together and he cries when we brush. We don’t brush too hard, and tries different baby tooth brushes. He now had a molar and we have to make sure we get far enough in the back to reach it. Any tips or tricks on how to get him to not hate getting his teeth brushed?! Thanks.