Preheat the oven to 400 degrees Fahrenheit and line a baking sheet with parchment paper.
Bake sweet potatoes. Rinse sweet potatoes and poke with a fork or knife. Place on the baking sheet lined with parchment paper and bake for about 40-50 minutes until fork-tender.
When the potatoes have about 15 minutes left, make your taco meat. Heat a large skillet over medium heat, add oil, and let it get hot. Add onions, salt, and pepper, and sauté for 3-4 minutes, stirring occasionally, until softened. Then add ground beef and break it up. Sauté for 3-4 minutes. Add taco seasoning, tomato paste, broth, salt, and pepper, and stir to combine. Let simmer for another 2-3 minutes until browned and everything is evenly incorporated.
Make your guacamole. Add avocado, lime juice, salt, and pepper to a medium bowl. Mash to combine until it reaches your desired consistency.
Prep your remaining toppings if needed.
Remove potatoes from the oven. Slice lengthwise through the middle of the sweet potato and gently press in on both ends to allow room for filling.
Stuff sweet potatoes. Evenly divide the taco meat among the sweet potatoes. Then top each one with shredded cheese, lettuce, guacamole, greek yogurt, and pico, dividing evenly among your potatoes.
Enjoy! Top with cilantro and any other toppings you like.