The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= 0.605\\[1 em]x_2 &= -0.8738\\[1 em]x_3 &= -2.5022\\[1 em]x_4 &= -3.629 \end{aligned} $$Polynomial $ 5x^4+32x^3+51x^2-4x-24 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.