An inclusive search for nonresonant signatures of beyond the standard model (SM) phenomena in events with three or more charged leptons, including hadronically decaying $\tau$ leptons, is presented. The analysis is based on a data sample corresponding to an integrated luminosity of 138 fb$^{-1}$ of proton-proton collisions at $\sqrt{s} =$ 13 TeV, collected by the CMS experiment at the LHC in 2016-2018. Events are categorized based on the lepton and b-tagged jet multiplicities and various kinematic variables. Three scenarios of physics beyond the SM are probed, and signal-specific boosted decision trees are used for enhancing sensitivity. No significant deviations from the background expectations are observed. Lower limits are set at 95% confidence level on the mass of type-III seesaw heavy fermions in the range 845-1065 GeV for various decay branching fraction combinations to SM leptons. Doublet and singlet vector-like $\tau$ lepton extensions of the SM are excluded for masses below 1045 GeV and in the mass range 125-150 GeV, respectively. Scalar leptoquarks decaying exclusively to a top quark and a lepton are excluded below 1.12-1.42 TeV, depending on the lepton flavor. For the type-III seesaw as well as the vector-like doublet model, these constraints are the most stringent to date. For the vector-like singlet model, these are the first constraints from the LHC experiments. Detailed results are also presented to facilitate alternative theoretical interpretations.