Rinse and then dry the soaked soybeans on paper towels.
Combine the soybeans, cilantro, parsley, mint, garlic, cumin, coriander, salt, and cayenne in a food processor. Pulse until the soybeans are very finely chopped. Check the texture by squeezIng a small handful of the mixture - it’s done when it just holds together so continue to pulse, if necessary.
Refrigerate the mixture for 15 minutes to allow the batter to firm up. After a 15 minute rest, gently shape tablespoonfuls the batter into balls and set aside.
Heat a large heavy-duty pot and fill with 3/4-inch of avocado oil. Heat to 375ºF over high heat. Using a slotted spoon, gently lower formed falafels into the hot oil, ensuring that they do not touch. Cook at 350-375ºF until deeply golden then flip each ball with a fork and cook the second side until golden as well, about 4 minutes total. Transfer the cooked falafel to a paper towel lined plate and season with more salt.