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You can do something like

var('t x y z')
As = [ A(t).subs( *{ k:v for k,v in zip( (t, x, y, z), pt } ) for pt in list_of_points ]

to get a list of values of $A(t)$, evaluated at each of those points.

You can do something like

var('t x y z')
As = [ A(t).subs( A.subs( *{ k:v for k,v in zip( (t, x, y, z), pt } ) for pt in list_of_points ]

to get a list of values of $A(t)$, $A$, evaluated at each of those points.

You probably need to do that to each entry in the matrix, since subs() doesn't work directly on a whole matrix.