Preheat the oven to 400°F (205°C) and line a rimmed sheet pan with parchment. Pierce the sweet potatoes and place them on the pan with space between them. Roast for 50–65 minutes, turning the pan after 35 minutes, until a knife slides through the thickest part without resistance.
Let the potatoes stand for 10 minutes, then split and scoop the flesh into a large bowl, discarding the skins. Mash while warm until no firm pieces remain.
Cool the mash for another 10 minutes. Stir in melted butter, maple syrup, milk, orange zest, cinnamon, cardamom, and ¾ teaspoon salt. Fold in the beaten eggs until uniform.
Reduce the oven to 350°F (175°C). Spread the filling evenly in a greased 9×13-inch baking dish. Combine pecans, oats, flour, brown sugar, and ¼ teaspoon salt, then stir in melted butter until small clusters form. Scatter loosely over the filling without pressing flat.
Bake uncovered for 28–35 minutes, until the topping is deeply golden and several central spots in the filling reach 160°F (71°C).
Rest uncovered for 10 minutes before serving.