The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= -0.0682+0.4763i\\[1 em]x_2 &= -0.0682-0.4763i\\[1 em]x_3 &= 1.0682+1.0094i\\[1 em]x_4 &= 1.0682-1.0094i \end{aligned} $$Polynomial $ 10x^4-20x^3+21x^2-2x+5 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.