$$y=\frac{x^3}{3} + px + q$$
Therefore $$y'=x^2 + p $$
Thus the gradient of $y=x$ must be equal to $x^2+p$.
That is $$x^2+p=1$$.
Since $y=x$ at each tangent points $x=\sqrt{1-p}$ and $x=-\sqrt{1-p}$ ,
$$x=\frac{x^3}{3} + px + q$$
$$x^2=\frac{x^4}{3} + px^2 + qx$$
$$(1-p)=\frac{{(1-p)}^2}{3} + p(1-p) + qx$$
$$(1-p)-p(1-p)=\frac{{(1-p)}^2}{3} + qx$$
$$(1-p)(1-p)=\frac{{(1-p)}^2}{3} + qx$$
$$(1-p)^2=\frac{{(1-p)}^2}{3} + qx$$
$$\frac{{2(1-p)}^2}{3} = qx$$
Thus $$\frac{{4(1-p)}^4}{9} = q^2x^2$$
$$\frac{{4(1-p)}^4}{9} = q^2(1-p)$$
For $p \neq 1$ ,
$$4(1-p)^3 = 9q^2$$
$$-4(p-1)^3 = 9q^2$$
$$4(p-1)^3 + 9q^2=0$$