Rinse and drain the chickpeas and lupini beans thoroughly before patting them dry with a towel.
Combine the beans, hemp hearts, egg, parsley, cumin, garlic powder, sea salt, and black pepper in a food processor.
Pulse the mixture until it forms a coarse, moldable paste, ensuring it remains textured rather than becoming a smooth purée.
Divide the mixture into six portions and shape them into even patties.
Heat the avocado oil in a large non-stick skillet over medium heat.
Place the patties in the skillet and sear for 4 to 5 minutes per side until they are golden brown and crispy.
While the falafel cooks, whisk together the Greek yogurt, tahini, lemon juice, and dried dill in a small bowl until smooth.
Serve the warm falafel patties immediately with a generous dollop of the lemon-herb tahini sauce.