Pallasite meteorites contain evidence for vastly different cooling timescales: rapid cooling at high temperatures (K/years) and slow cooling at lower temperatures (K/Myrs). Pallasite olivine also shows a variety of textures ranging from well-rounded to angular and fragmental, and some samples record chemical zoning. Previous pallasite formation models have required fortuitous changes to the parent body in order to explain these contrasting timescales and textures, including late addition of a megaregolith layer, impact excavation, or parent body break-up and recombination. We investigate the timescales recorded in Main Group Pallasite meteorites with a coupled multiscale modelling approach, using a 1D model of the parent body and a 3D model of the metal-olivine mixing region, to see if these large-scale changes to the parent body are necessary. We find that the contrasting timescales, textural heterogeneity, and preservation of chemical zoning can all occur within one simple ellipsoidal segment of an intrusion complex, with~12 % of our randomly generated models returning favourable pallasite formation conditions (2200 model runs), with small intrusion volumes (5E6 m^3) and colder background mantle temperatures (< 1200 K) favourable. Large rounded olivine can be explained by earlier intrusion of metal into a hotter mantle, suggesting possible repeated bombardment of the parent body. The formation of pallasitic zones within planetesimals may have been a common occurence in the early Solar System, as our model shows that favourable pallasite conditions can be accommodated in a wide range of intrusion morphologies, across a wide range of planetesimal mantle temperatures, without the need for large-scale changes to the parent body. We suggest that pallasites represent a late stage of repeated injection of metal into a progressively cooler planetesimal mantle.