Joining your server on Xbox Console is simple and easy to do. Since Xbox Console doesn't allow you to connect traditionally with the IP and port, make sure that you have configured your server according to the following.
1. Give your server a unique name. Make sure this is something easy to search and find.
2. Ensure you have enabled Community on your server.
3. Ensure you have Xbox selected as your platform.
4. In Palworld, press Join Multiplayer Game
5. Press Community Servers
6. Search for your server in the search bar. You should now be able to see your server.