To palm is a direct synonym for steal, boost, lift, jack, swipe, rob, yoink, or otherwise take unlawfully.

It usually implies stealing something small in a discreet manner.

a chill word for high five

Palming something like a small object in your hand

When someone dosent have no genetial area there is just an empty bit of skin. so when someone like that has sex with another person with the same condition they have to scissor and while they are scissoring it sounds like two palms (and only the palms) slaping and hitting each other at a certain amount and speed...

to hi five someone while having sex

animated porn containing tentacles and bondage. usually with busty girls and nasty monsters

To scrape the dirt/dead skin off one's palm, usually with the opposing thumbnail (works best if palm is damp from sweat)