Don't leave the tape on for a long period of time. We take pallets in every week (with used machines), once that tape has been on the pallets for a few months it's nearly impossible to remove (believe me I am an expert on this topic).
Sometimes (when it has been on too long) we elect to remove the pallet rubber and recover them. We use heat guns, Wd-40, Naptha and and a dull paint scraper.
The key is to change the paper often, leave the pallets w/o paper when putting them in storage, re-apply paper when they are remounted to the machine.