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my (@match) = $str =~ /(?:^foo (?=(?:m \d+ )+bar)|(?<!^)\G)m (\d+) /g;

my (@match) = $str =~
  / (?: ^foo\ (?= (?:m\ \d+\ )+bar) # overall match from ^foo
...
    )
    m\ (\d+)\                       # grab each digit sequence
  /xg;