Swift - Accessing AppDelegate window from viewController

This is for with or without Storyboard and it is working for Swift 3+

let appDelegate = UIApplication.shared.delegate as? AppDelegate
let mainStoryboard = UIStoryboard(name: "Main", bundle: nil)
let homeController = mainStoryboard.instantiateViewController(withIdentifier: "HomeViewController") as! HomeViewController
appDelegate?.window?.rootViewController = homeController

You have a typo it is supposed to be appDelegate not AppDelegate. So like this:

@IBAction func skipWalkthrough(sender: AnyObject) {
    let appDelegate = UIApplication.sharedApplication().delegate as! AppDelegate
    appDelegate.window!.rootViewController = RootViewController   
}

Swift 3.2

@IBAction func skipWalkthrough(_ sender: AnyObject) {
        let appDelegate = UIApplication.shared.delegate as! AppDelegate
        appDelegate.window!.rootViewController = controller
    }