Prepare the corn: To a large pan of rapidly boiling, salted water add the corn. Cover and cook 10 minutes. Remove from water and allow to cool.
Prepare the okra: While the corn is cooking, toss the okra with the olive oil, salt, and pepper. Heat a grill pan over medium-high heat. Skewer the okra and place it on the hot grill pan. Cook, turning occasionally, until the okra is tender and has golden brown grill marks.
Prepare the Pico de Gallo: Combine the diced tomatoes, diced onion, jalapeno pepper, fresh cilantro, lime juice, and salt in a small bowl. Stir to combine ingredients. Set aside.
Use the ground beef to prepare the taco filling according to the directions on the Taco Dinner Kit. Warm the tortillas while the filling is cooking.
When ready to serve, cut the kernels from the cooked corn. Stuff the tacos with lettuce, meat filling, pico de gallo, corn, and okra. Top with the taco sauce included in the taco dinner kit.