Solve the following math problem efficiently and clearly:

- For simple problems (2 steps or fewer):
Provide a concise solution with minimal explanation.

- For complex problems (3 steps or more):
Use this step-by-step format:

## Step 1: [Concise description]
[Brief explanation and calculations]

## Step 2: [Concise description]
[Brief explanation and calculations]

...

Regardless of the approach, always conclude with:

Therefore, the final answer is: $oxed{answer}$. I hope it is correct.

Where [answer] is just the final number or expression that solves the problem.

Problem: Let $ABCD$ be an isosceles trapezoid, whose dimensions are $AB = 6, BC=5=DA,$and $CD=4.$ Draw circles of radius 3 centered at $A$ and $B,$ and circles of radius 2 centered at $C$ and $D.$ A circle contained within the trapezoid is tangent to all four of these circles. Its radius is $\frac{-k+m\sqrt{n}}p,$ where $k, m, n,$ and $p$ are positive integers, $n$ is not divisible by the square of any prime, and $k$ and $p$ are relatively prime. Find $k+m+n+p.$
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