You can connect your Xbox to your Palworld server. However, Xbox clients do not support Direct Connect via IP and Port. The server must be configured as a public Community Server.
1. How to Setup a Public Community Server:
Startup Tab: Enable the Public Server variable (this adds the -publiclobby startup command). If you do not see the -publiclobby parameter, please create a support ticket.
Files Tab: Edit the configuration file located at Pal/Saved/Config/LinuxServer/PalWorldSettings.ini and set the platform variable to AllowConnectPlatform=Xbox.
Console Tab: Save your changes and Restart the server.
If the issue persists, please submit a ticket.