Unfortunately, they can only be made on board the ship. However, we just returned from the 7-day cruise and didn't have any problem with Palo reservations. They open up reservations around 1:30pm on Embarcation Day. They will allow you to book 1 dinner, 1 high tea & 1 champagne brunch. After everyone has had a chance at reservations, you may then book additional reservations throughout the week. We wanted to have dinner a 2nd night. Around 5:00pm that day, we simply called to Palo and inquired about space and although they were "booked" they said to come up by 6:30pm and they would seat us. Our experience taught us that they can seat you early in the evening even on days they're booked. Trying to eat later would be more difficult, if not out of the question, without a reservation.