I love Palo dinner and get it every cruise. I usually get the 6 oz. beef tenderloin, followed by the chocolate souffle. Last dined there on the Magic in October, and looking forward to dining there on the Fantasy next month. The food and atmosphere are better than at an MDR.
I never found the brunch menu options impressive, myself, and don't plan to have brunch at Palo again unless the brunch buffet returns. I think a lot of people prefer brunch at Palo for scheduling reasons, because they want to have dinner with their kids in the MDR, not because the food is better at brunch than dinner, because it isn't. I know a lot of people liked the brunch buffet (so did I), but that's unavailable now.