Preheat the oven to 425°F.
Place the cubed eggplant on a rimmed baking sheet and toss it with the olive oil to coat. Spread the eggplant out in a single layer and roast, tossing it halfway through, until the cubes are tender and charring, 25 to 30 minutes.
Meanwhile, in a small bowl, whisk together the miso, tahini, rice vinegar, coconut aminos, coconut sugar and sesame oil. Gradually whisk in 2 to 3 tablespoons cold water, tablespoon by tablespoon, until the glaze thins and becomes smooth.
Cook the farro according to the instructions on the package, then transfer it to a large bowl, season it with salt and pepper and stir in the parsley.
Transfer the roasted eggplant to a medium bowl. Reserving 3 tablespoons of the glaze, add the rest to the roasted eggplant, tossing the cubes in the glaze until they are fully coated. Mix the 3 tablespoons of reserved glaze into the farro, and add salt and pepper to taste.
Heat a small, dry skillet over medium heat. Once hot, add the sesame seeds and toast them, stirring frequently until they are fragrant and browning slightly, about 5 minutes.
Divide the farro among individual plates and place the eggplant cubes on top. Season with salt and garnish with parsley and the toasted sesame seeds. Finish with a squeeze of lemon, if desired.