We define numerical link-homotopy invariants of link maps of any number of components, which naturally generalize the Kirk invariant. The Kirk invariant is a link-homotopy invariant of 2-component link maps given by linking numbers of loops based at self-singularities of each component with the other spherical component; our invariants use instead ingredients from Milnor's higher order link invariants, and are extracted from the reduced fundamental groups of the exterior. We provide practical algorithms to compute these invariants from an appropriate cross-section, as well as families of examples that are therewith detected. The main proofs use the combinatorial theory of cut-diagrams previously developed by the authors.