We present results for pseudo-critical temperatures of QCD chiral crossovers at zero and non-zero values of baryon (B), strangeness (S), electric charge (Q), and isospin (I) chemical potentials µ X=B,Q,S,I . The results were obtained using lattice QCD calculations carried out with two degenerate up and down dynamical quarks and a dynamical strange quark, with quark masses corresponding to physical values of pion and kaon masses in the continuum limit. By parameterizing pseudo-critical temperatures as (0)) 4 , we determined κ X 2 and κ X 4 from Taylor expansions of chiral observables in µ X . We obtained a precise result for T c (0) = (156.5 ± 1.5) MeV. For analogous thermal conditions at the chemical freeze-out of relativistic heavy-ion collisions, i.e., µ S (T, µ B ) and µ Q (T, µ B ) fixed from strangeness-neutrality and isospin-imbalance, we found κ B 2 =0.012(4) and κ B 4 =0.000(4). For µ B 300 MeV, the chemical freeze-out takes place in the vicinity of the QCD phase boundary, which coincides with the lines of constant energy density of 0.42(6) GeV/fm 3 and constant entropy density of 3.7(5) fm −3 .