In a large skillet, cook the ground beef and onion over medium-high heat. Break into pieces and cook for 8-10- minutes. Drain off the grease.
Add taco seasoning and cook for another minute, stirring it into the meat.
Add diced tomatoes, soy sauce, Worcestershire sauce, and apple cider vinegar, and bring to a boil. Turn the heat down and simmer for another 5 minutes.
Toast the burger buns.
To assemble:
Divide the taco sloppy joe mixture on four bottom burger bun halves, then sprinkle with grated cheese, chopped Roma tomatoes, and a few sprinkles of cilantro. On the top buns, spread the guac. Add the top buns with guac on top of the Taco Sloppy Joes and serve!