Localization is crucial for the safe and reliable operation of mobile robots in dynamic indoor environments. The present study focuses on ultra-wideband (UWB)-based tracking systems, specifically utilizing the Loco Positioning System of the Crazyflie drone platform. Unlike other tracking technologies, UWB-based systems rely on precisely configured real-world positions for accurate operation. Commonly, laser-based measurement tools are used for this task; however, they require manual calculations, increasing wrongdoing and cognitive load. Therefore, we propose XR-PALS, a mixed reality application that provides an intuitive interface for managing these cyber-physical spaces. Our tool enables seamless synchronization between virtual and physical setups of tracking systems by integrating UWB modules mounted on movable tripods. A user study was conducted to evaluate the efficiency, usability, and accuracy of XR-PALS compared to a traditional laser-based approach in configuring UWB-based systems. Results indicate that XR-PALS significantly reduces task completion time, eliminates measurement errors, and enhances user confidence, particularly in complex spatial layouts.