JSFiddle - React, Tailwind, and code Playground

JavaScript

var extractNumbers = (function ( ) {
    numRegexs = [
            /( |^)([+-]?[1-9]+)( |$)/g,
            /( |^)([+-]?[1-9]+\.[1-9]+)( |$)/g,
            /( |^)([+-]?[1-9]+\.[1-9]+([eE][+-])?[1-9]+)( |$)/g
    ];

    return function( str ) {

        var results = [], temp;
        
        for( var i = 0, len = numRegexs.length; i < len; i++ ) {

            while( temp = numRegexs[i].exec( str ) ) {
                results.push( temp[2] );
            }
        }
        
        return results;
    }
}( ));


console.log( extractNumbers("-5. -2 3.1415 test -2.4 + - 5. 6aldjf. 12..2 3.6 7.71234E+11234E+1 7.71234E+1") );