In Libra of Souls mode map, you must travel using the Expedition feature a certain distance (lea as the game calls it) to get this to pop.
On any point of the map, the menu will say Expedition. Go down to it and set a route that is three to five icons away from yours. Do this on the bottom right beginning part of the map as there is little mountains or sea there that would cost more money. Only travel on flat land areas to minimize amount of money spent.
You should get this naturally if you go for the 30 Astral Fissures achievement as you are traveling back and forth for more to spawn.