First of all, I would consider electrochemical methods.

you can try to bubble H2S to precipitate palladium sulfide and then filtration

but probably you can just filter your reaction mixture through little amount of silica gel it can also help (depending on solvent). If it helps you will see absorption of orange Pd acetate on the gel

Adding dimethylglyoxime also works. It precipitates palladium quantitatively from water.