Welcome aboard Tim! You must have a magical cruise coming up with Disney Cruise Line! I'm happy to hear that you are hoping to make reservations at Palo, one of the Adult Exclusive restaurants onboard. My husband and I never miss an opportunity to dine at Palo, it is our favorite!
You didn't mention which ship or itinerary you are sailing. If your cruise is a seven-night sailing, I'd suggest booking Palo for night five, six or seven, as you'll have already dined at the main three restaurants by then, ensuring that you don't miss the show night at
Animator's Palate.
However, if you're on one of the shorter cruises, you can call Disney Cruise Line (or your travel agent) and request a specific dining rotation, asking to start in Animator's Palate. Then, hopefully you'll be assigned Animator's Palate for your first night and you'll be able to book Palo any night after that. Disney Cruise Line allows guests to request their dining rotation, however it is not guaranteed. If you board the ship and learn that your Animator's Palate dinner night conflicts with your Palo reservation, there is always the possibility of switching your reservation once onboard if space allows.
I hope that helps as you begin to plan, Tim! Please let me know if you have other questions before you set sail!