The achievement is straightforward: enable the challenge card "Who Needs a Map?" in Endurance Mode and simply find 5 crypts (there is no need to get any treasures nor escape from the forest).
However, this achievement may not unlock after completing the challenge correctly, either in solo or co-op mode, even after several attempts. If this happens to you (as was the case for me), then completely exit and quit the game, delete your local save, restart the game, then re-do the challenge.
For Xbox One there is in fact no need to delete the cloud save, just the local save on the hard drive, and when you restart the game again very quickly cancel the cloud resyncing. This allows you to retry the challenge straight away by using a fresh, local save, avoiding the 9 hour cooldown. Once the achievement unlocks, you can retrieve your previous save by quiting the game again, deleting the new local save that was just created for the achievement run, then when you restart the game, this time let the Xbox fully retrieve and sync your previous online save (you may need to select the correct timestamped one if prompted). I was able to use this method to finally get the achievement in solo mode and restore my game saves.
This save method also works if the "One way to do it" challenge is not unlocking after several attempts; select this card and use a fire arrow after Lara falls to the ground freezing.
It's strongly recommended that you delete your save only after completing the other achievements you want to do, in case something goes wrong (such as missing score cards etc).