This achievement can be earned via the main quest "Foundation", however whether this mission is available to you depends on how you handle the Emerald Vale power crisis near the beginning of the game.
Here's how I did it:
* Redirected the power back to Edgewater.
* Convinced Reed to step-down and for Adelaide to take over as leader of Edgewater. (Comes Now The Power)
* Get the NavKey to Monarch (Passage to Anywhere)
* Learn the location of the chemicals (Radio Free Monarch)
* Steal the chemicals for Phineas (The City and the Stars)
* Plant tracking signal for Sophia (Long Distance)
* Meet with Sophia and agree to sort out Edgewater (Long Distance)
This should give you the mission "Foundation".
I believe there are multiple possible options that can differ from the above that you could take and still give you the mission. Turning in Phineas at the start of the game may short cut the time it takes. Although I haven't tried this myself.