Place edamame in the bowl of a food processor and process to a paste, stopping to scrape down the sides as necessary. This should take less than a minute.
Scrape avocado flesh into a large bowl and mash until smooth. Add the edamame paste, Greek yogurt, onion, tomato, cilantro and optional jalapeno and stir to combine. Add lime juice and salt to taste.
If you have time, refrigerate for 30 minutes to allow the guacamole to firm up.