Rinse and soak the yellow lentils for at least 30 minutes.
In a pressure cooker or a pot, add the soaked lentils and 3 cups of water. Cook the lentils until they are soft and mushy. If using a pressure cooker, cook for 2 whistles.
Meanwhile, chop the mixed veggies into bite-sized pieces.
Heat the avocado oil in a pan and add the mixed veggies. Saute the veggies for 3-4 minutes until they are lightly browned.
Add 1/2 cup of water and salt to the veggies. Cover and cook the veggies until they are tender.
Once the lentils are cooked, add the cooked veggies to the pot.
Add the tamarind pulp, turmeric, paprika, and garam masala to the pot. Mix well.
Bring the Sambar to a boil and then let it simmer for 5-10 minutes until the flavors are well combined.
Check for seasoning and adjust accordingly.
Serve hot with steamed rice and your favorite side dishes.
Enjoy your flavorful and healthy Sambar with yellow lentils and mixed veggies!