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gillies-
The belts and teeth usually have a central line which stops them shifting sideways. There is usually too low tension if it's able to come off. Maybe that could come from frame flex, I don't know.
Have you got a snubber installed? -
You've lost teeth? Mad. Belts normally go for a lot longer than that, could have been a stone or something has gotten in there, R+M have that auto/spring tensioner though which normally allows for a bit of give incase something gets jammed in it, also prevents folk from over tightening the belt.
Check the sprocket + chainring for any damage, could be a slightly damaged metal tooth somewhere, often can only really see them with the belt off.
PhilDAS
BrickMan
Gates belts should be good for a lot longer than that though obviously cargo-ing is more stressful for them than a solo bike. Do you have it tensioned correctly? And what is the "chainline" like? They are very sensitive to both