Trying to resolve my last question, I stumbled on this sequence, A288208, which resolves the case $k=3$. I see that there are various codes proposed to compute the sequence, but there isn't a closed form expression, or even a recurrence relation (like the ones for the simpler Hertzsprung's problem, see A002464).
Is it possible to obtain it?
Now posted on https://mathoverflow.net/questions/488706/closed-form-expression-for-the-enumeration-of-permutations-with-no-fixed-points