With the emergence of new technologies and standards for wireless communications and an increase in application and user requirements, the number and density of deployed wireless ad hoc networks is increasing. For deterministic ad hoc networks, Time-Division Multiple Access (TDMA) is a popular medium access scheme, with many distributed TDMA scheduling algorithms being proposed. However, with increasing traffic demands and the number of wireless devices, proposed protocols are facing scalability issues. Besides, these protocols are achieving suboptimal spatial spectrum reuse as a result of the unsolved exposed node problem. Due to a shortage of available spectrum, a shift from fixed spectrum allocation to more dynamic spectrum sharing is anticipated. For dynamic spectrum sharing, improved distributed scheduling protocols are needed to increase spectral efficiency and support the coexistence of multiple co-located networks. Hence, in this paper, we propose a dynamic distributed multi-channel TDMA (DDMC-TDMA) slot management protocol based on control messages exchanged between one-hop network neighbors and execution of slot allocation and removal procedures between sender and receiver nodes. DDMC-TDMA is a topology-agnostic slot management protocol suitable for large-scale and high-density ad hoc networks. The performance of DDMC-TDMA has been evaluated for various topologies and scenarios in the ns-3 simulator. Simulation results indicate that DDMC-TDMA offers near-optimal spectrum utilization by solving both hidden and exposed node problems. Moreover, it proves to be a highly scalable protocol, showing no performance degradation for large-scale and high-density networks and achieving coexistence with unknown wireless networks operating in the same wireless domain.