We present results from point-contact spectroscopy of the antiferromagnetic heavy-fermion superconductor UPd$_2$Al$_3$: conductance spectra are taken from single crystals with two major surface orientations as a function of temperature and magnetic field, and analyzed using a theory of co-tunneling into an Anderson lattice. Spectroscopic signatures are clearly identified including the distinct asymmetric double-peak structure arising from the opening of a hybridization gap when a coherent heavy Fermi liquid is formed. Both the hybridization gap, found to be 7.2 $pm$ 0.3 meV at 4 K, and the conductance enhancement above a flat background decrease upon increasing temperature. While the hybridization gap is extrapolated to remain finite up to $sim$28 K, close to the temperature around which the magnetic susceptibility displays a broad peak, the conductance enhancement vanishes at $sim$18 K, slightly above the antiferromagnetic transition temperature ($T_textrm{N}$ $approx$ 14 K). This rapid decrease of the conductance enhancement is understood as a consequence of the junction drifting away from the ballistic regime due to increased scattering off magnons associated with the localized U 5$f$ electrons. This shows that while the hybridization gap opening is not directly associated with the antiferromagnetic ordering, its visibility in the conductance is greatly affected by the temperature-dependent magnetic excitations. Our findings are not only consistent with the 5$f$ dual-nature picture in the literature but also shed new light on the interplay between the itinerant and localized electrons in UPd$_2$Al$_3$.
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