This achievement is
STORY RELATED and is
NOT MISSABLE.You will get this achievement in the final level, The Fold Weapon.
*** Spoiler - click to reveal ***At the end of the level, you will fight the final boss, Slone. Upon defeating her, BT will sacrifice himself to destroy the fold weapon.
After the events in the spoiler, you will have to get to an evac point in the middle of the sky by wall-running from debris to debris. It's a pretty straightforward, linear path, so it shouldn't be too difficult for you, even on Master difficulty. Once you reach the ship and evac, the achievement will unlock.