Preheat a grill.
Shuck the corn and cut the endive heads in half lengthwise. Add the corn and endive to a baking sheet or cutting board, drizzle with olive oil and sprinkle with salt and pepper, to taste. Add the corn and endive to the grill and cook until lightly charred on all sides, about 3 minutes for the endive and 5 minutes for the corn.
Meanwhile, in a medium serving bowl, combine all the remaining ingredients.
Once cooked, remove the corn and endive from the grill. Slice the endive crosswise into 1/4-inch pieces and add to the bowl. Cut the kernels off the cobs and discard the cobs. Add the kernels to the bowl and stir to combine. Taste for seasoning and adjust, if needed. Serve warm or room temperature.