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See an oral surgeon.
It can be a tori (extra bone), salivary gland lesion, fibroma, bony mass etc. Your oral surgeon will take xrays and maybe a ct scan. A biopsy procedure may also be recommended.
It could be an outgrowth of your bone, and is normal for many people.
But to diagnose this properly, you must be seen by an oral surgeon or dentist who can actually see you and the growth.
Palatal tori is bony growth that is not a concern.
It most likely is hereditary. It effects about 30% of the population.