I've played both the Enshrouded demo, and now a couple hours of Palworld.
From a gameplay perspective Palworld feels like a much more streamlined Ark, where your Pals get to work around the base early on and your progression curve is smooth in the early game. Most early Pals are non-aggressive so you're able to explore a lot and your progression comes from capturing Pals which encourages you to explore even more. Where Palworld has been a bit of a disappointment so far is the combat. Fighting enemies is pretty clunky.
Enshrouded on the other hand; personally I felt like the survival/base building aspect was detrimental to the game's overall feel. I liked the exploration and traversal, made more interesting by the Voxel nature where you can "make your own stairs" up a mountain if you want. Exploring the Shroud and fighting some early bosses in the demo were also quite fun and the controls are great.
So I guess TL

R - Want to build/automate a base? Palworld.
Want to fight enemies/treat it like an open world action game? Enshrouded.