Heave you tried converting those signatures, if you want to use them, using the IPS Signature Converter Plugin for Panorama (https://docs.paloaltonetworks.com/pan-os/u-v/custom-app-id-and-threat-signatures/ips-signature-conve...)? With what result?
Another approach would be to use DNS Security Service (https://www.paloaltonetworks.com/products/threat-detection-and-prevention/dns-security).
Main reason would be that dns Application Signature does not detect all tunneling and tcp-over-dns Application Signature covers only a small subset of tools (" (...) application identifies traffic from the following tools, tcp-over-dns, dns2tcp, Iodine, Heyoka, OzymanDNS, and NSTX.").
dnscat2 goes through the firewall with ease.
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