Place the beans in a large bowl. In a small bowl, combine the garlic, salt, onion, and vinegar. Season with the pepper, then whisk in the oil. Pour ¾ of the dressing over the beans. Add the chipotle and cilantro. Toss, cover, and set aside. Preheat a grill pan over medium heat. Toss the escarole with the remaining dressing then grill for 3 minutes, turning constantly until just wilted and golden. Serve with the beans, guacamole, avocado, and lime wedges.