The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= 1.0758\\[1 em]x_2 &= -5.5379+4.8215i\\[1 em]x_3 &= -5.5379-4.8215i \end{aligned} $$Polynomial $ -x^3-10x^2-42x+58 $ has no rational roots that can be found using Rational Root Test, so the roots were found using qubic formulas.