The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= 1.3808\\[1 em]x_2 &= -4.2134\\[1 em]x_3 &= -0.0837+0.5803i\\[1 em]x_4 &= -0.0837-0.5803i \end{aligned} $$Polynomial $ x^4+3x^3-5x^2-2 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.