A perfect sambar is where the toor dal is cooked well and disintegrates in the sambar. It should be mushy and not grainy. Sometimes when making one-pot sambar, many find it difficult to get perfectly cooked toor dal. So let's see some troubleshooting tips. But before that, like rice, every bag of toor dal is different. The way they are dried and processed significantly impacts their texture.  Trying soaking the dal: Soaking toor dal, especially in hot water for 20 minutes, helps. Increase the cooking time: I have cooked only for 10 minutes. You can increase the cooking time to 15 to 18 minutes. But the veggies you add might turn mushy.  Try adding tamarind water after the cooking cycle is complete: Tamarind sometimes prevents toor dal from turning mushy. So skip the tamarind water and cook the sambar with toor dal, and after the cooking is complete, add the tamarind water and bring the sambar to a rolling boil.  Try cooking the toor dal first: First, you can partially cook the toor dal alone in Instant Pot for 10 minutes and quickly release the pressure. Then add the other ingredients and make the sambar. I have made a separate video, and here it is. In this way, you don't need to worry about veggies in the sambar turning mushy.  Try using frozen dal: As a part of my meal prep, I cook and freeze my dal. You can use that for making sambar, and that's how I made my leeks sambar. Do check it out. I hope these tips help. If you have any questions, do let me know in the comments.