[guided]We must show: for every $y \in \omega(x)$ and every $s \in \mathbb{R}$, the point $\varphi(s, y)$ also belongs to $\omega(x)$. The argument uses two ingredients: the semigroup law for the flow and continuous dependence of solutions on initial data.
Why does invariance require continuous dependence on initial data, rather than just continuity of the flow in $t$? Because the limit $y = \lim_{k \to \infty} \varphi(t_k, x)$ is an initial condition for a new IVP, not a time limit along a fixed solution. We need to know that $\varphi(s, \cdot)$ is continuous as a function of the initial point: starting near $y$ and flowing for time $s$ should end near $\varphi(s, y)$.
Fix $s \in \mathbb{R}$. Since $y \in \omega(x)$, there exist $t_k \to +\infty$ with $\varphi(t_k, x) \to y$. The [Picard-Lindelof Theorem](/theorems/2774) guarantees that $\varphi(s, z)$ depends continuously on the initial condition $z$ for each fixed $s$. Applying this continuous dependence:
\begin{align*}
\varphi(s, \varphi(t_k, x)) \to \varphi(s, y) \quad \text{as } k \to \infty.
\end{align*}
By the semigroup (flow) property, $\varphi(s, \varphi(t_k, x)) = \varphi(t_k + s, x)$. Since $t_k \to +\infty$, for any fixed $s \in \mathbb{R}$ we have $t_k + s \to +\infty$ as well (for all sufficiently large $k$, $t_k + s > 0$, so $\varphi(t_k + s, x)$ is well-defined as a point on the forward orbit). Therefore $\varphi(s, y)$ is a limit of $\varphi(t_k + s, x)$ along a sequence of times tending to $+\infty$, which places $\varphi(s, y) \in \omega(x)$ by definition.
The argument works for negative $s$ as well: even though the forward orbit $\varphi(t, x)$ is defined only for $t \geq 0$, the point $y \in \omega(x)$ lies in the domain of $f$ and the flow through $y$ exists for both positive and negative times (at least locally, by existence and uniqueness). For $t_k$ large enough, $t_k + s > 0$ even when $s < 0$, so $\varphi(t_k + s, x)$ is well-defined.
Since $s \in \mathbb{R}$ was arbitrary, we conclude that $\varphi(s, \omega(x)) \subset \omega(x)$ for all $s$. The reverse inclusion $\omega(x) \subset \varphi(s, \omega(x))$ follows by applying the same argument with $-s$: if $y \in \omega(x)$, then $\varphi(-s, y) \in \omega(x)$, and $y = \varphi(s, \varphi(-s, y)) \in \varphi(s, \omega(x))$. Hence $\varphi(s, \omega(x)) = \omega(x)$ for all $s \in \mathbb{R}$.[/guided]