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awk - Extract version using shell commands

I am trying to extract version from below mentioned URL's using shell commands like, grep, awk, sed, cut which ever is most suitable

https://abcd/efgh/1.1.3/hijkl/mnop    
https://abcd/efgh/hijkl/2.3.4.5/mnop    
https://abcd/3.4/efgh/hijkl/mnop

I am looking to extract the version(numbers with dot) alone from the URL, where the position may vary as in above example. Looking for suggestions.

Expected output to be :

1.1.3
2.3.4.5
3.4
question from:https://stackoverflow.com/questions/65949581/extract-version-using-shell-commands

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You may use this grep:

grep -Eo '[0-9]+(.[0-9]+)+' file

1.1.3
2.3.4.5
3.4

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