It's so much easier to pick them from the tree then bending to pick them after they sprout in my garden!
If you gotta pull them from the ground, you can munch on the new sprouts!
But they won't be as tender and sweet as the green palo verde seeds. Just crack open the pod and pop the seed in your mouth. Unlike mesquite where you can gnaw on or suck the ripe pod, the palo verde pods are bitter. But the seeds are so delicious - reminisent of edamame. (But you don't have to blanch and salt them.)