Preheat oven to 400°F (200°C). Pierce the clean sweet potatoes multiple times with a fork, rub with olive oil, sprinkle with salt and pepper, and place on a foil-lined baking sheet.

Bake for 45-60 minutes, or until the potatoes are completely tender and yield to a gentle squeeze. Remove from oven and let cool slightly.

While potatoes finish baking, heat 1 tbsp olive oil in a skillet over medium heat. Add diced onion and cook until soft, then add minced garlic and cook for 30 seconds.

Add ground beef to the skillet, breaking it apart with a spoon. Cook until fully browned. Drain excess fat if necessary.

Stir in taco seasoning, water (or broth), and salsa. Reduce heat to low and let simmer for 5-8 minutes until the liquid reduces and the meat is saucy.

Slice the baked sweet potatoes open lengthwise and gently push the ends together to open them up. Mash the inside slightly with a fork.

Spoon the hot taco meat generously into the center of each sweet potato.

Top immediately with shredded cheese, sour cream, guacamole, fresh cilantro, and a squeeze of lime juice. Serve hot.