[guided]The decisive input is the Alexandrov--Fenchel inequality for complete polarizations of hyperbolic polynomials. We use it in the closed-cone form: if $p: W \to \mathbb{R}$ is a homogeneous polynomial of degree $n$ hyperbolic with respect to $e \in W$, if $P: W^n \to \mathbb{R}$ is the complete polarization of $p$, and if $\overline{\Lambda_e(p)}$ is the closure of the hyperbolicity cone containing $e$, then every choice of elements $u,v,w_3,\dots,w_n \in \overline{\Lambda_e(p)}$ satisfies
\begin{align*}
P(u,v,w_3,\dots,w_n)^2 \ge P(u,u,w_3,\dots,w_n)P(v,v,w_3,\dots,w_n).
\end{align*}
The closed-cone formulation is essential here because the theorem assumes the matrices are positive semidefinite, not necessarily positive definite.
We now verify the inputs for this theorem. The vector space is $W := V = \operatorname{Sym}_n(\mathbb{R})$. The polynomial is $p := h$, where
\begin{align*}
h: V &\to \mathbb{R} \\
M &\mapsto \det M,
\end{align*}
and its complete polarization is $P := H$. The hyperbolicity direction is $e := I_n$. The previous step proved that $h$ is hyperbolic with respect to $I_n$ and that the closure of the hyperbolicity cone is
\begin{align*}
\overline{\Lambda_{I_n}(h)} = \overline{\mathcal{P}},
\end{align*}
the cone of positive semidefinite real symmetric matrices.
Define the arguments for the hyperbolic-polynomial inequality by
\begin{align*}
u := A, \qquad v := B, \qquad w_i := A_i \quad \text{for } 3 \le i \le n.
\end{align*}
Because $A,B,A_3,\dots,A_n$ are positive semidefinite by hypothesis, all these arguments lie in $\overline{\mathcal{P}} = \overline{\Lambda_{I_n}(h)}$. Thus every hypothesis of the closed-cone Alexandrov--Fenchel inequality is satisfied, and we get
\begin{align*}
H(A,B,A_3,\dots,A_n)^2 \ge H(A,A,A_3,\dots,A_n)H(B,B,A_3,\dots,A_n).
\end{align*}
Finally, the first step identified $H$ with the mixed discriminant $D$ on every $n$-tuple of real symmetric matrices. Substituting $H=D$ gives
\begin{align*}
D(A,B,A_3,\dots,A_n)^2 \ge D(A,A,A_3,\dots,A_n)D(B,B,A_3,\dots,A_n),
\end{align*}
which is the theorem's asserted inequality.[/guided]