dreaminboutdisney,
I'm assuming you're on the 7 night cruise since you're talking about brunch. What are your children's ages?
We have done both brunch and dinner at Palo, and wouldn't want to give up either. Brunch was awesome with a tremednous selection of food, breads and pastries as well as the entrees. I'm really looking forward to that again. Dinner is very romantic and quiet and the food is incredible, especially the chocolate soufle (sp). With a little planning you can fit both in. There is usually one night that you could skip the rotation. If your kids are old enough they can have dinner at your table without you. Our servers last time told us they would be happy to serve them while we were at Palo, however, we had really great table mates who we met and sat with the cruise before that, and they dined with our children.
This year my dd (17) will either take her brothers (14) & (8) to the dining room or have room service. Another option is to let your kids play in the clubs during your time at Palo.
Which cruise are you going on? With a little planning and help from the boards, you can try and decide what day and times to make reservations for brunch and dinner.
Good luck with the planning!