Palmer, 23, was replaced by Estevao just before Ollie Watkins got his and Aston Villa’s second goal of the game.
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The talismanic playmaker was visibly frustrated by the decision, exchanging words with assistant manager Willy Caballero before making his way to the bench.
Speaking to reporters after the game, Maresca, who was serving a touchline ban, shrugged off Palmer’s reaction.
“No, no. He was working very good. He was on the ball and off the ball, pressing, he was very good,” he said.
"We have another game now in 48 hours, so he was good and we are happy that he’s back."
Asked if Palmer was substituted due to fitness concerns, Maresca responded: "No, I think he was working very hard but he was a bit tired. Overall, he had a good game."