Because you are sending quoted strings to solve(), x, y, s and t will all be treated as symbolic variables. The S.x, S.y you get out will be symbolic formula in the symbolic variables s and t. You cannot just double() to get values: you have to subs() in values for s and t and then you can double()
The symbolic expression you get out is a quartic (degree 4), so 4 solutions is proper.
x = 154.2671257, y = 183.85226111
x = -238.7563737, y = -24.40069805
x = 207.8465888, y = -119.9991483
x = -17.42811880, y = -239.3663732
MuPAD is known to lose solutions for polynomials in versions up to at least R2010b.