Preheat oven to 425º F. Line baking sheet with parchment paper.
Arrange potato slices in a single layer on the parchment paper. Drizzle with olive oil and sprinkle with salt and pepper. Bake until tender throughout, about 30 minutes.
Meanwhile, brown the ground beef in a medium skillet set over medium heat. Drain away any excess drippings and stir in the taco seasoning. Spoon the browned and seasoned meat over the baked potato skins. Top with cheeses and broil until the cheeses have melted, about 3 to 5 minutes.
Remove from the oven and top with Pico de Gallo and fresh cilantro. Serve with sour cream, lime wedges, and avocado.