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OmniFocus already syncs with Palm via iCal. In the OmniFocus Preferences, choose Sync and specify which contexts should sync with your iCal calendars. You then set your Palm to sync with the iCal calendar(s) where you keep your OmniFocus actions. I use the Missing Sync to handle my Palm syncing.

I have OmniFocus set up to sync those contexts where I won't have my computer to my Palm. Every day I sync OmniFocus with iCal, sync my Palm, and then sync OmniFocus again (to get anything that I might have changed on the Palm).

But when OmniFocus for the iPhone arrives--or for the iPod Touch--I'll probably break down and get one! :-)