# If you'd like to omit non-matching lines from the result; add ';d' to the end of the expression.
sed -E 's/(?:[\(])*([\d]{3,3})(?:[\)\.\ ])*([\d]{3,3})(?:[\-\.])*([\d]{4,4})/$1-$2-$3/g;t' <<< "586.943.9341
5869439241
(586)123-4567
(586) 943-9341"
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for SED, please visit: https://www.gnu.org/software/sed/manual/html_node/The-_0022s_0022-Command.html