I typically will microwave a baked potato for a few minutes before wrapping it in foil and cooking it on a campfire. I imagine sweet potatoes are similar in density and would also take a while to cook.
The issue with the raw sweet potatoes on the skewer is that the other food would probably turn to mush by the time the sweet potatoes were done, unless the sweet potatoes were already partially baked.
I've always stuck the whole potato wrapped in foil directly into the coals to cook it.
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