Drain and rinse the chickpeas, then pat them thoroughly dry with a paper towel to ensure a crispy texture.
Place chickpeas, hemp hearts, nutritional yeast, parsley, cilantro, garlic, cumin, salt, and pepper into a food processor.
Pulse the mixture until it forms a coarse, uniform meal that holds together when pressed, being careful not to over-process into a paste.
Scoop the mixture and form into four equal-sized patties, pressing firmly to keep them intact.
Heat avocado oil in a non-stick skillet over medium heat and cook the patties for 4-5 minutes per side until deeply golden and crisp.
In a small bowl, whisk together the Greek yogurt, tahini, and lemon juice until the sauce is smooth and creamy.
Arrange the fresh spinach on a plate, top with the warm falafel patties, and finish with a generous drizzle of the lemon-tahini sauce.