However the chlorine in the pool water may also destroy the plumbing in the panels.
What's the pipe in the panels? How about the fittings, etc.?
If the pipe is something that might be subject to corrosion, you can still use them - with a heat-exchanger and a second pump. Then you can use them with fresh antifreeze inside them to protect them from corrosion, just as they were intended, and never sweat it.
You can make a heat exchanger out of a couple hunks of copper tubing of two different sizes and some fittings. Use several feet of a larger outer pipe with a T on each end, feeding it from the base of the Ts. Put a reducing fitting on each end to the size of a smaller pipe and run the small pipe straight through. (Then you don't have to worry about leaks: The inner pipe is continuous for the entire length it's forming a barrier between the two fluids.) Actually: make two of them side-by-side and hook them in series at one end, feeding them from the other end. That way they can expand together without much stress on the attached plumbing as the temperature changes
Wrap the whole thing in insulation. Run the pumps so that the fluid flows in opposite directions. Shazam! You have a "counter-current heat exchanger", a very efficient device that nearly swaps the temperatures of the two fluids.
Alternatively, take a water heater, temporarily remove the cover and insulation, and solder a coil of copper tubing to the metal tank. Pump the hot solar fluid in the top and out the bottom of this coil and you're doing the same thing - in a device that you can also run as a normal water heater "when the sun don't shine". (This is also a low-cost way to convert a water heater to solar or solar-plus-whatever-it-used-to-be.) Copper, solder, and the tank's metal all conduct heat very well, and you have all three separating the antifreeze-laden solar panel fluid from your drinking/washing/pool water.
Don't forget to include an expansion tank and a pressure relief valve in the solar panel's plumbing circuit. Otherwise you'll blow something the first time the sun hits it.