You should be able to make it, especially if you tell them you would like to see the show afterwards. However, to make it more relaxed for you, it might be a good idea (but not absolutely necessary) to change it to half an hour earlier. Anyhow, enjoy Palo! It's great!
When we had our Palo dinner, I had a slight migraine and our server could probably notice I wasn't feeling too well and did not want to linger, and she had our dinner over in about 1 hour and 15-20 minutes and it did not feel overly rushed (I couldn't eat that much, but DH definitely got everything he wanted

)