In a TV episode of Paddy Gower Has Issues, Detective Senior Sergeant Andrew Saunders said police were willing to speak with anyone who could be helping the family "to get them out of there safely".
Phillips and his children Jayda, 10, Maverick, 8, and Ember, 7 have been missing since their father took them from Marokopa to an unknown location in December 2021.
Saunders said they were open to direct contact with people assisting Phillips, but could also work through an intermediary if that would be necessary to bring people forward.
"Everything can be worked through but he's got to have some end game. It's been long enough now and it's just time to get those children out and let them get on with their lives.
"Tom can deal with what ever he needs to deal with and then continue."
In September 2023 a warrant was issued for Phillips' arrest after he was linked to a bank robbery in Te Kuiti.
In May that year two people, both armed, entered a bank in Rora St and demanded cash, fleeing the scene on a black, farm-style motorbike.
Phillips was charged with aggravated robbery, aggravated wounding and unlawfully possessing a firearm.
Police still believe the children are in the King Country, within Marokopa or the surrounding areas.
Saunders said the environment Phillips was likely to be hidden in was "incredibly challenging".
"It's not just a simple case of sending plenty of people in the bush to look for him. We're very measured about any investigation we conduct in that area."
He hoped pleas from Phillips' family and the length of time that had passed could help bring about the change that would bring Phillips out of hiding.
"I'd like to think they'll finally say 'enough's enough' and we work towards a safe solution. We want this to end safely. We're willing to negotiate with anyone that actually is helping Tom and in communication with him."
Family plea for safe return of children
In a letter released to Paddy Gower, Tom Phillips' mother Julia said she woke up every day hoping it would be the day her grandchildren came home.
In it, she addressed her son directly.
"Tom - I feel really sad that you thought you had to do this. Not considering how much we love you and can support you.
"It hurts every time I see photos of the children and of you and see some of your stuff that is still here. Thinking what could have been if you had not gone away," she wrote.
She also addressed the children.
"Jayda, Maverick, Ember - I love you so much and really miss being part of your lives. Every day I wake up and hope that today will be the day that you will come home."
Writing on Stuff, Gower said the family took part in the programme in the hope it might help bring the children back.
"Maybe he's going to see this, and maybe he's going to get to see that he can come home, and that we are here for him, and it might just be okay," Gower quotes Phillips' sister Rozzi as telling him.
Gower said Rozzi also addressed the children with the following words.
"I'm proud to be your aunty. I took a lot of joy in being a part of your lives. You're important to me and our wider family and I'd love to see you again and be part of your lives again - and know for myself that all is truly well in your world."
