The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= 0.2399\\[1 em]x_2 &= -0.1537\\[1 em]x_3 &= -2.018\\[1 em]x_4 &= 2.9873 \end{aligned} $$Polynomial $ 54x^4-57x^3-323x^2+30x+12 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.