Using the tool mauve coded, yeah, it's possible to select the palette. Sadly, it's cyclic-access only. (i.e; you can't just enter Palette number 12, or even select from a list of 01-30 on a list - you start at 01 and have to click "Next Palette" each time... though there is a "Previous Palette" option too.)
And no - since they're just color information, all the different palettes do is color different parts of the sprite differently. The sprite poses and such are all identical.