Wash the toor dal under running water, soak in sufficient water for about 30 minutes.
Transfer the drained toor dal to a pressure cooker, add 2 & 1/4 cups water along with salt to taste and turmeric powder. Pressure cook until soft and mushy. Whisk the dal to make it smooth (Do not blend).
Heat oil in a kadai, add mustard seeds. when it crackles add methi seeds.
Once the methi seeds turn brown, add red chillies, green chilies, curry leaves & asafoetida.
Add the pearl onions, saute until translucent.
Next, add in all the veggies, saute on medium heat for 5 minutes until tender yet firm.
Now add salt, red chilli powder, coriander powder & sambhar masala. Saute the spices well for 2 more minutes, sprinkle little water if required to avoid the spices from burning and turning bitter.
Add 1 cup water, mix well. Bring to a boil, reduce the heat and let it simmer for another 5 minutes.
Add in the churned dal, tamarind extract, and jaggery, mix well. Let it boil for further 15-20 minutes. Add water if required. Stir occasionally.
Sprinkle cilantro, switch off the heat and serve hot with idli/dosa/uttapams or even plain steamed rice.