I've been feeding a completely raw diet for over 12 years. Raised dogs from 8 week old puppies that have never eaten kibble. Raw bones do not splinter. A healthy dog can eat chicken quarters and chicken thighs with bones with absolutely no issues. Please, be very careful when taking a veterinarians opinion on a raw diet. For one thing, they get very little training in Veterinary school on nutrition and diet. Secondly, the training they do receive is from Hills Science Diet or a rep from another large dog food manufacturer. Third, vets make money selling specialty diets.
I have never brushed my dogs teeth and I have never had anything but pearly white teeth. My dogs have lived to 12 - 13 years old and been healthy, athletic animals till the end. Prior, the oldest GSD I had fed on kibble was 8 1/2 - 9 years. Either dying from bloat or cancer.
, if you want to feed kibble that is fine. I would watch for allergies to the kibble after switching, including ear infections and skin issues. This is one of the main issues that GSD's have with a kibble diet. Then you begin the fight of medicines and regular vet visits to clear up all the other problems. Your vet will be happy to prescribe meds and sell you expensive specialty diets.
Regarding your issue with loose stools, that is because you had either too much fat or too much organ meat in that meal. Too much liver will cause black loose stools. This may have been your problem. You may not have the percentages right and causing the loose stools by feeding too much organ meat.
Regarding bones in the diet, it is essential and critical to have raw bones in the diet of a raw fed dog. Raw chicken quarters are the ideal ratio of meat to bone. I have never fed chicken feet, but raw bone is a critical part of a raw fed diet. I have fed my dogs deer necks and even deer legs with no issues. Although, I now stay away from any weight bearing bones of animals larger than chickens. A raw diet absence of raw bones will be unbalanced and nutritionally incomplete.
The point is to not give up so quickly on the raw diet do to loose stools. You need to experiment and modify the diet. Im sure too much organ meat in your feedings was the issue.