As Long as Palo have FW rules to allow below Traffic along with Intresting IP address.
Depending on the crypto and DMVPN headend or branch placements, the following protocols and ports are required to be allowed:
•UDP Port 500—ISAKMP as source and destination
•UDP Port 4500—NAT-T as a destination
•IP Protocol 50—ESP
•IP Protocol 51—AH (if AH is implemented)
•IP Protocol 47—GRE
•Routing protocol << -- depends on what IGP you using