Answer: Your zip code places you in zone 6A, the coldest part of zone 6. In an exposed or windy location it might actually be as cold as zone 5.
There are some yuccas that will grow for you, but they are not quite palm like. They have spiky foliage at the ground, and when in bloom will send up a tall blooming stalk. You could grow Yucca filamentosa and named varieties of that, as well as Yucca rostrata. Yuccas need full sun and require a well drained soil.
I am not sure what you are seeing that is tall with foliage at the top, perhaps you have seen some type of Phormium or Cordyline. These look a bit like a yucca when young but over time some will grow tall with foliage at the top. These are not hardy in your area but could be grown as a container plant and then taken indoors each winter. That is not low maintenance but it might help you achieve the look you want.
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