This achievement is story-related and cannot be missed.
You will get this achievement pretty early in the game. After following the Joker to his hideout in the factory, you'll have to enter through the big chimney. Make your way around the premises. The achievement should unlock as soon as you enter the facility.
(video credit: PS4Trophies)
Hope this helps you guys!
Any improvements? Please let me know in the comments below wave