Brown thighs: Set Instant Pot to Sauté, add 1 Tbsp oil, sear thighs skin-side down 3 min per side. Hit Cancel.
Build sauce: Add poblanos, garlic; sauté 1 min. Stir in broth, tomato sauce, almond butter, cocoa, chili, cumin, cinnamon, salt, and pepper until smooth.
Pressure cook: Return thighs skin-side up. Seal; cook on HIGH pressure 10 min. Natural-release 5 min, then quick-release.
Thicken & serve: Set to Sauté, simmer 3 min to thicken. Plate chicken, spoon mole over top, sprinkle sesame seeds, cilantro, and add a squeeze of lime.