More interesting plots can be obtained for the values of {A -> 10, B -> 5, ω -> 2}
used in the earlier answer but with larger R
, for instance with R == 10000
,
eq = {x'[t] == v[t], v'[t] == x[t] - A x[t]^3 + R*Cos[ω*t] - B v[t], x[0] == 0, v[0] == 0};
s = ParametricNDSolve[eq /. {A -> 10, B -> 5, ω -> 2}, {x, v}, {t, 0, 20}, {R}];
ParametricPlot[{x[10000][t], v[10000][t]} /. s, {t, 4, 20},
AspectRatio -> 1, ImageSize -> Large]

The curve is symmetric about the origin. The bifurcation diagram requested in the question can be obtained from (code patterned after that in 96004)
tab = Table[{sol, points} = Reap@NDSolveValue[{v'[t] ==
x[t] - A x[t]^3 + R*Cos[ω*t] - B v[t] /. {A -> 10, B -> 5, ω -> 2},
x'[t] == v[t], x[0] == 0, v[0] == 0,
WhenEvent[v'[t] > 0, If[t > 4, Sow[x[t]]]]}, {x, v}, {t, 0, 20}]; {R, #} & /@
Union[Flatten[points], SameTest -> (Abs[#1 - #2] < .02 &)], {R, 25, 10000, 25}];
ListPlot[Flatten[tab, 1], ImageSize -> Large, AxesLabel -> {R, x}]
