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In a bowl or blender, combine the peanut butter, soy sauce, warm water, rice vinegar, sesame oil, sugar, chili garlic sauce, and lime juice. Mix until smooth and creamy. Set aside.
Heat the avocado oil in a large skillet over high heat. Add the ground beef and let it cook undisturbed for 2–3 minutes to build a deep brown crust. Break it apart and continue cooking until mostly cooked through.
Sprinkle the cornstarch over the beef and stir quickly for about 30 seconds. Add the garlic, ginger, soy sauce, and brown sugar. Cook for about 1 minute, stirring constantly, until the beef is glossy and well coated. Transfer to a bowl and keep warm.
In the same skillet, add a small amount of oil if needed. Sauté the white parts of the green onions and the vegetables over medium-high heat until just tender and still colorful.
Bring a pot of water to a boil. Cook the noodles according to package directions until tender. Drain and rinse briefly with cold water to prevent sticking.
Add the noodles to the skillet with the vegetables. Pour in most of the peanut sauce and toss over medium heat for 1–2 minutes until evenly coated and silky.
Divide the noodles among plates and top with the caramelized beef. Finish with the green onion tops, black pepper, and a squeeze of fresh lime juice.