The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= 0.3376\\[1 em]x_2 &= -0.5751\\[1 em]x_3 &= 1.2875 \end{aligned} $$Polynomial $ 20x^3-21x^2-10x+5 $ has no rational roots that can be found using Rational Root Test, so the roots were found using qubic formulas.