There are indications of what they want. Well they had elections for the PA council in Gaza recently and Hamas won 75 of 118 seats. We'll see what happens in the West Bank elections. Abu Mazen has been forthright in his refusal to disarm Hamas. He expressed his continued support for the PLO Charter and Phased Plan, which call for the destruction of Israel and explain how they intend to do it during his campaign. He was actively supported by terrorists. Marwan Barghouti was his only serious challenger, had he continued to run. Mustafa Barghouti, the "peace" candidate, got about 19%. Your comparison to Iraq would be valid only if we'd allowed al Zarqawi to field a slate, which we didn't. IMO before rearming the PA police, they need to show their intent to arrest and disarm terrorists, which they've "agreed" but refused to do.
I would have to have more evidence, though, that what the Palestinians have said they want is what they would actually want should they be able to express it without reprisal from the terrorists among them.
I do not pretend to have any real expertise here, and have voiced my views that this administration would never enable terrorists or murderers that would do harm to Israel, so I will bow out of this discussion.