The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= -0.2572\\[1 em]x_2 &= 0.5935\\[1 em]x_3 &= 4.9137 \end{aligned} $$Polynomial $ -4x^3+21x^2-6x-3 $ has no rational roots that can be found using Rational Root Test, so the roots were found using qubic formulas.