I looked into it more closely and it looks like any kind of generic TCP connection with tasker is a no-go so I think the HTTP GET will work in my case. I wasn't sure how to embed HTTP POST commands (which would allow for longer commands) but the GET seems to work OK. I ended up abandoning AutoVoice though as i keep running into what seemed like odd bugs (it would sometimes repeatedly trigger the voice input and it wouldn't always wait until received the voice command before sending the URL string to Elve). I switched to the built in GET VOICE which seems to be working really well.
I am passing the entire recognized text string to Elve as a variable and I am processing it within a rule there. So far I have found Tasker's interface to be a bit odd, especially as it relates to Auto Voice.
My commands aren't completely free form speech but they are pretty easy to remember ("Arm Stay", "Arm Night", "Weather Report", "Last Caller" etc.) I flash the recognized text up on the Elk Keypads as well. I just programmed in a scripted conversation with the alarm to freak out my kids as well.
Something like this would be SUPER EASY to program for iOS (recognize text string from voice input and then transmit that as a variable via HTTP) which would be way better for us as we have a number of iOS devices but only one Android device.