Heat a large grill pan over high heat. Add corn to pan and grill, turning occasionally, until browned on all sides. Let cool completely. Using a sharp knife, cut kernels off cob. Discard cobs.
In a large bowl, whisk together cilantro, citrus juices, oil, salt, and red pepper. Add tomato, avocado, onion, garlic, and corn, tossing to combine. Garnish with cilantro, if desired.
Recipe by Southern Lady Magazine at https://southernladymagazine.com/grilled-corn-avocado-and-tomato-salad/