Saute the onions, carrots, sweet potatoes in olive oil over medium heat. Add in the garlic, chili powder, cumin, paprika, salt, and cayenne if you’re using it. Let the mixture cook until the potatoes are soft.
While the veggies are cooking, chop your cilantro and set aside. Prepare your Greek yogurt sauce. Empty the yogurt into a bowl, and stir in 2 tsp of taco seasoning.
Add 1-2 Tbsp water to thin out the yogurt mixture (the more water you add, the thinner it will get). Mix everything together until the yogurt is smooth.