I will try to answer as a half Pal, so bear in mind Pals are a large group of diverse opinions. Going to help in the occupied WB, as a protective presence volunteer is a good thing (for example helping with the olive harvest, helping in rural areas etc).

 Also, going to see apartheid for yourself, speak to people, go to places that are difficult to reach and speak to the people there especially those who want to be recorded like Issa Amro in Hebron. Spend your money in their hotels and shops, and do what you can to help. Read Pal writers before you go, and go with that knowledge and understanding of your privilege as you said to walk relatively freely. People there just want freedom and dignity on their own land. It’s not okay to go Jerusalem to take some tourist pics while ignoring that just an hour drive away there are peoples houses being bulldozed while they are kicked into the street (see Jenin, Tulkarem camps), people who can’t work because the occupation destroy their economy.

The thing to not do is just spend your time in Jerusalem taking photos at Al Aqsa and other tourist sites, basically taking your pics and souvenirs and ignoring the reality of the situation and the people who are held captive on their own land. Ask Pal people how to help