Grind your tapioca pearls in a grain mill. If you don’t have a grain mill, you can use tapioca flour, but I like fresh ground best.
Soak tapioca starch in water for 30 minutes in a 1 ½ quart saucepan.
Add almond milk, sea salt, ¼ cup sugar, ¼ cup maple syrup and lightly beaten egg yolks to tapioca starch mixture. Stir over medium heat until it comes to a boil.
Turn down to a simmer, and cook uncovered over very low heat for 10-15 minutes, stirring frequently.
Add the remaining sugar, maple syrup, pumpkin puree, cinnamon and vanilla and stir over low heat for 3-5 minutes
Serve warm or chilled. You can sprinkle some extra cinnamon or pumpkin pie spice over the top before serving.