Since the OP asks to find the, and I quote here,
formula for relativistic momentum under the requirement of conservation of momentum for inertial frames
(the last word being my guess which makes most sense), we do the following.
We first define the particle orbits as functions $x^\mu(\tau)$ in spacetime, where $\tau$ is an arbitrary Lorentz-invariant parameter. The action is $$A=\int d\tau\ L(x^\mu(\tau),\dot x^\mu(\tau),\tau)$$ where $\dot x^\mu(\tau)$ denotes the derivative with respect to the parameter $\tau$. If the Lagrangian depends only on invariant scalar products of the form $x^\mu x_\mu,x^\mu\dot x_\mu,\dot x^\mu \dot x_\mu$, then it is
invariant under Lorentz transformations $$x^\mu\to \dot x^\mu=\Lambda^\mu_\nu x^\nu$$ where $\Lambda$ satisfies $\Lambda g\Lambda^T=g$ with $g_{\mu\nu}=(1,-1,-1,-1)$.
For a free massive point particle in spacetime, the Lagrangian is $$L=-mc\sqrt{g_{\mu\nu}\dot x^\mu\dot x^\nu}.$$ It is invariant under $\tau\to f(\tau)$ for arbitrary and sufficiently smooth $f$. Under translations like $$\delta_sx^\mu(\tau)=x^\mu(\tau)-\epsilon^\mu(tau)$$ the Lagrangian is invariant, satisfying $\delta_sL=0$. Thus applying Euler-Lagrange to calculate the variance, we get
$$0=\int_{\tau_\mu}^{\tau_\nu}d\tau\left(\frac{\partial L}{\partial x^\mu}\delta_sx^\mu+\frac{\partial L}{\partial \dot x^\mu}\delta_s\dot x^\mu\right)=-\epsilon^\mu\int_{\tau_\mu}^{\tau_\nu}d\tau\frac{d}{d\tau}\left(\frac{\partial L}{\partial \dot x^\mu}\right).$$
Thus the Noether charges are $$-\frac{\partial L}{\partial\dot x^\mu}=mc\frac{\dot x^\mu(\tau)}{\sqrt{g_{\mu\nu}\dot x^\mu\dot x^\nu}}=mcu^\mu\equiv p^\mu$$
and satisfies $$ \frac{d}{d\tau}p^\mu(\tau)=0$$
This is the conservation of 4-momentum, once we note that $p^\mu$ is indeed the 4-momentum which can be noted by defining $\tau$ to be the physical time $t=x^0/c$. Also note that $u^\mu$ is the dimensionless 4-velocity of the particle, and hence the 4-momentum retains it's look from Newtonian mechanics.
Thus if one can agree on the Lagrangian, then the definition of 4-momentum as the conserved Noether charge of it falls from the definitions and Euler-Lagrange.