The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= -1.2173\\[1 em]x_2 &= -2.5382\\[1 em]x_3 &= -0.6223+1.688i\\[1 em]x_4 &= -0.6223-1.688i \end{aligned} $$Polynomial $ x^4+5x^3+11x^2+16x+10 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.