A dog-tooth-face interface for a vehicle includes a first clutch element that has a plurality of recesses distributed on a side of the first clutch element and around an axis through the first clutch element and a second clutch element that has a plurality of teeth configured to engage with the recesses and distributed on a side of the second clutch element adjacent the recesses. At least one of the first clutch element and the second clutch element is configured so as to rotate about the axis, and at least one of the first clutch element and second clutch element is configured so as to move along the axis to engage or disengage the first and second clutch elements. Moreover, the first clutch element has a substantially continuous wall surrounding the recesses, and the recesses have at least one corner relief portion configured to avoid contact with corners of the teeth.