Rinse the toor dal few times. Soak the dal in water for 30 minutes.
After 30 minutes, drain the dal and add it to the inner pot of Instant Pot. Add water, turmeric powder, salt to taste.
Add all the vegetables to the insert, add some water, turmeric powder, salt to taste.
Place a trivet in the inner pot. Place the insert with vegetables on the trivet.
Close Instant Pot, vent on sealing position. Select Pressure cook for 10 minutes.
After the Instant Pot beeps, let the pressure release naturally.
Open the Instant Pot, carefully remove the insert using the tongs.
Mash the dal with the ladle.
Turn on the sauté (low), add Udupi sambar masala. Bring the mixture to a boil. Stir in-between to avoid masala sticking to the inner pot.
Add tamarind pulp, jaggery and vegetables to the inner pot. Mix well.
Simmer the sambar for 2-3 minutes. Adjust the seasoning. Turn OFF sauté.