The statement is false if $P^*$ is taken to mean the element by element complex conjugate of $P(\lambda)$. A counterexample: let $m=1$, $\omega_0 = \omega_1 = 1$, and
$$A_0 = \left( \begin{array}{cc} 0&i\\2i&0 \end{array} \right) \\
A_1 = \left( \begin{array}{cc} 1&i\\0&2 \end{array} \right)
$$
Then coefficients in $p(x,y)$ come out to be complex non-real.
You must have meant $P^\dagger(\lambda)P(\lambda)$, the Hermitian conjugate of the matrix.
With that change:
$t$ is a real polynomial in the variable $\lambda = \sqrt{x^2+y^2}$.
Proposition 1:
$\forall n \in \Bbb{N} : \lambda^n $ is either a polynomial in $x^2$ and $y^2$ or (if $n$ is odd) $\sqrt{x^2+y^2}$ times a polynomial in $x^2$ and $y^2$.
Since all the $\omega_m$ are real, we have by proposition 1 that $t = Q(|\lambda| = Q(\sqrt{x^2+y^2}$ is of the form
$$
t = P_1(x,y) + \sqrt{x^2+y^2}P_2(x,y)
$$
where $P_i(x,y)$ are both real polynomials.
Now for a given set of $A_m$, each element of $P(\lambda)$ is a (possibly complex) polynomial in $(x,y)$. But each element of $P^\dagger(\lambda)P(\lambda)$ is a real-valued, thus it is a real polynomial in $(x,y)$.
Then each element of $tI - P^\dagger(\lambda)P(\lambda)$ is a real polynomial in $(x,y)$ plus, for diagonal elements, an expression of the form $P_1(x,y) + \sqrt{x^2+y^2}P_2(x,y)$.
So each element of $tI - P^\dagger(\lambda)P(\lambda)$ is of the form $P_1(x,y) + \sqrt{x^2+y^2}P_2(x,y)$
Finally, the determinant of a matrix is a polnomial function of all of its elements. This brings us home, because any polynomial function of elements of the form $P_1(x,y) + \sqrt{x^2+y^2}P_2(x,y)$ is itself of the form
$P_3(x,y) + \sqrt{x^2+y^2}P_4(x,y)$. Identify in your problem $q(x,y)$ with $P_3$ and p(x,y) with $P_4$.
By the way, if only even powers appear in $Q$, then $P_2(x,y) = 0$ since every term ins itself a polynomial in $x^2+y^2)$. Since the off-diagonal elements are also pure polynomials in $x$ and $y$, in that situation, $p(x,y) = 0$.