In a blender, combine the adobo sauce, peppers, yogurt, garlic, syrup, salt and paprika until a smooth sauce is formed.
Add the cauliflower to a large bowl, pour the sauce over top and toss until covered.
Place onto a baking sheet, and roast for 40 minutes, tossing halfway through, until the cauliflower is slightly charred.
While the cauliflower bakes, make your avocado crema. Add the avocado to a bowl, and smash with a fork until smooth. Stir in the rest of the listed ingredients.
Prepare the tacos. To tortillas, add the avocado crema, chipotle cauliflower, followed by the pickled onions and cilantro, if desired. Enjoy immediately.