Heat 2 teaspoons of the oil in a small skillet over medium heat; add the cayenne and garlic and cook, stirring, until just golden, about 1 minute. Add the peanut butter, ketchup and 1/4 cup water and stir until incorporated. Transfer to a bowl. Toss the carrots with the lemon juice, cumin and salt and black pepper to taste.
Mix the beef with the cilantro, parsley, scallions, 1 teaspoon salt and ¼ teaspoon black pepper using your hands until just combined. Form into four 3/4-inch-thick patties, about 4 1/2; inches in diameter. Heat the remaining 2 teaspoons oil in a large cast-iron skillet or griddle over medium-high heat. Cook the burgers, turning once, about 4 minutes 30 seconds per side for medium.
Assemble the burgers on the hamburger buns with the peanut sauce and carrots.
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