Let $F=F(X)$ be a free group of finite rank, with palindromic length taken with respect to the fixed basis $X$. We embed $F$ as the index-two subgroup of the universal Coxeter group $W=F\rtimes_θ\langle t\mid t^2=1\rangle$, where $θ(x)=x^{-1}$ for $x\in X$, and prove $\mathrm{pl}(g)=\min{\ell_T(g),\ell_T(gt)}$. Dyer's deletion theorem then identifies reflection length with the minimum number of unmatched positions in a noncrossing equal-label partial matching on a reduced Coxeter word. This gives an $O(n^3)$-time, $O(n^2)$-space algorithm for palindromic length, together with recovery of an optimal palindromic factorization. The matching model also gives a structural characterization. For every ordered full binary tree with $k$ leaves we define a literal word template whose leaves are palindromes and whose internal vertices carry arbitrary words. A reduced word $w$ represents an element of palindromic length at most $k$ if and only if $w$ is a literal instance of one of these templates. Hence the $C_{k-1}$ ordered binary-tree shapes give a complete finite family for each fixed $k$. For $k=4$ the five templates are exactly the five forms proposed by Frid, proving the completeness of that list. A companion Lean 4 development verifies the four-palindrome classification end to end for every finite rank, including the ordinary reduced-word formulation and the literal five-form conclusion.