Please explain to me how you can drink without the liquid touching your teeth. Do you stick the straw directly down your throat?

uh? I minimize the contact to my teeth, I guess?

Afaik, Acid damage to teeth is mostly from long term effects of acid produced by bacteria on the teeth, not acidic liquids that transit through the mouth.

In any case, disposable plastic straw bans do not affect your freedom of choosing whether you use a straw or not.