You will really enjoy the beach excursion ! We've been to Orient Beach several times and I love the wide ,white sand beaches..so soft on your feet.The ocean is gentle , just right for kids ! We usually go to Bikini Beach. But there's several good places. If you wanted to go on your own, taxis are $15 each way. And no trouble getting one. Last time our driver said he'd pick us up at a certain time and didn't want to be paid until he came back.
If you want to go to PALO, as soon as you board the ship go immediately to Diversions ( a lounge just to the right as you board ). The PALO staff will be there and they always save some reservations to be booked on the ship.