The word 'palanquin' is originally from Sanskrit 'palyanka'

'Palanquin' is a word borrowed from Sanskrit 'palyanka'. The word entered the English language some time around 1588.

palanquin [noun] [1588]

A conveyance formerly used especially in eastern Asia usually for one person that consists of an enclosed litter borne ...

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note: Late 16th century: from Portuguese palanquim from Oriya pālaṅki based on Sanskrit palyanka ‘bed or couch’.
Etymology: Portuguese 'palanquim' from Malay or Javanese 'pelangki' of Indo-Aryan origin; akin to Bengali 'pālaṅka' bed

See more loan words from 1500s.