I know you can use the pool at the Haathi in Cavelossim which is a sister hotel of The Royal Palms although there may be a small fee. Although if having lunch or snacks I am sure a small tip to staff would help you use the pool as well

hi tj not sure if you can still use the pool at the haathi we were told we couldnt last year because the hotel has become more of a time share / holiday club setting and is now exclusively for guests ?
you can use the pool at the mobor but its quite basic not as nice as the haathi
you can also use the pool at the leela at a price

In March we were allowed to use the pool maybe it was because we knew the staff I'm not sure . The main building is still a traditional hotel and the timeshare is still in the units at the other side of the pool......if you know what I mean.

First time we went to Goa in 2001, Candolim, the staff always let a mother, and her 2 young daughters use the pool. One was a right brat, which really pleased me................