In the properties dialog for a symbol, the Image Tab has a drop-down to select another image. The drop-down lists 15 possible replacements. But it seems to offer images of the same file-type; not from the same Palette.
In the two screenshots below, the icon used to create the symbol was: in the first an SVG, in the second a PNG.
⇔SVG | PNG⇔
Requests: (for when this bug is addressed)
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The offered images be from the same Palette as the original / current Palette.
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The list be scrollable.
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A button be added to view the symbols from another Palette.