Bring a medium pot of water to a rolling boil. Add the tapioca pearls and reduce the heat to medium. Cook for 25-30 minutes until they are completely translucent with no white dot in the center. I have noticed that if the water level is too low, sometimes the tapioca will always have a white dot in the center. If your tapioca seems to be taking too long to cook, try adding a few more cups of water and check if the white dots disappear.
Pour the tapioca pearls through a strainer and rinse several times to remove the starch. Transfer the tapioca to a bowl of cold water and set aside.
In another pot, bring about 8 cups of water to a boil. Add the taro and reduce to a simmer. Cook for 10-12 minutes until the taro is tender. Drain the water.
Use a potato masher to mash about ⅓ of the taro.
Add the coconut milk, milk, condensed milk, and salt to the pot.
Drain the tapioca pearls and add them to the pot as well.
Taste and adjust the sweetening to your liking then serve! If you like to serve it warm, then heat it over medium heat for a few minutes.