An easy way to identify penstemons is to look for a staminode (that fuzzy thing coming out of the middle of the flower). It's a sterile stamen and a distinctive feature of the Penstemon genus. Another common name is beardtongue because of this.
Definitely a penstemon. I just uploaded a spotting of Palmer's penstemon on my page. Check it out if you want and compare. I found it growing on a roadside bank in a large cluster.
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