We present the nucleon axial and electromagnetic form factors using $N_\textrm{f}$=2+1+1 ensembles of twisted mass fermions with clover improvement and with masses tuned to their physical values. Excited state effects are studied using several sink-source time separations in the range 0.8 fm - 1.6 fm, exponentially increasing statistics with the separation such that statistical errors remain approximately constant. In addition, quark loop disconnected diagrams are included in order to extract the isoscalar axial form factors and the proton and neutron electromagnetic form factors, as well as their strange-quark contributions. The radii and moments are extracted by modelling the $Q^2$ dependence, including using the so-called $z$-expansion. A preliminary assessment of lattice cut-off effects is presented using two lattice spacings directly at the physical point.