I have a one-and-done experience with Remy. Fantasy Maiden Voyage. Dinner. Excellent service, prepared food. It is an event and very good for those who have shied away from fine dining for fear of being out of place. The waiters were very helpful.
I just am a more plain eater. At Palo, I enjoy filet mignon or Dover Sole and a scuffle. I have had salad, soup, or butternut squash ravioli. And I chose that over the chef creations in Remy. Like caviar on a brunch item.
You will have a glass of champagne at Remy brunch. In the past, we were served a bellini at Palo brunch.
Unless there is something that stands out as a must try on any of the brunch or dinner menus, and you wanted one dinner and one brunch, I would pick Palo brunch and Remy dinner.
Reading a recent Remy dinner menu, I see that you can choose your courses a la carte, allowing you to exclude items you knowingly would not appreciate. Brunch still looks like set courses (they can tweak it for allergies, intolerances, preferences, I believe).
If you haven’t seen the menus, this will take you to Remy’s dinner menu. You can navigate to the other menus once on this page.
https://disneycruiselineblog.com/menus/menu-viewer/?Menu=12&Version=720
To me, Palo is a nice restaurant, a respite from the MDRs, but nothing so unique in life. Remy is the experience - and nighttime just adds to it.
Now, getting a Palo brunch is another question. If you opt that way and cannot secure one, check once onboard.
If you have kids, consider how they will do being in nursery or kids clubs if you choose the longer nighttime Remy dinner. It would be a shame to have to leave your meal early. Palo can be a quicker meal if you wish.