We don't have any synonyms for palp yet.
Think palp belongs in the thesaurus? Recommend it and we'll take a look.
Definition of palp:
"1922: He folded his razor neatly and with stroking palps of fingers felt the smooth skin. -- James Joyce, Ulysses"
(v) :
to feel, to explore by touch
"1957: his skull looks palped and sucked down -- Lawrence Durrell, Justine"