Are you setting this up with an existing firewall and inserting this in the path for URL filtering?
If so, you can use the v-wire instance that exists by default on most models. This will insert on the trust side of your existing firewall to read all the outbound traffic.
Create two rules:
untrust to trust with allow all
trust to untrust with allow all and add your url filtering profile to this rule
I would also add a basic threat profile so you can get logging on this as well.
In order to block traffic you would need to be in-line as you indicate.
Palo Alto can be setup using a span port and the PA interface as a Tap. But you can only report on traffic then you cannot block anything as you are only seeing a copy of the traffic not the actual flow.
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