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Preheat oven to 400°. Scrub sweet potatoes and puncture a few times with a sharp knife. Place directly on oven rack and bake until easily pierced with a knife, 40 to 60 minutes.
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While sweet potatoes bake, prepare the filling. Coat the bottom of a medium saucepan with oil and place over medium heat. Add onion and sauté until soft and translucent, about 5 minutes. Add garlic and sauté 1 minute more, until very fragrant. Add broth and lentils. Raise heat and bring to a simmer. Lower heat and allow to simmer, uncovered, until lentils are almost fully cooked, but just a bit firm and most of the broth has evaporated, about 30-35 minutes. You can add a bit of water during cooking if too much of the liquid evaporates.
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Once lentils are cooked, add ¾ cup water, tomato paste, chipotle pepper, adobo sauce, cumin, maple syrup, and kale, if using. Stir to incorporate and bring to a simmer. Lower heat and allow to simmer, stirring occasionally, until lentils are fully cooked, sauce is thick, and kale is tender, about 10 minutes more. Add up to ½ cup of water during simmering if the sauce becomes too thick.
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Remove from heat and season with salt and pepper to taste. Feel free to adjust the seasonings to your liking by adding a bit more cumin, maple syrup or adobo sauce.