This is a missable achievement during chapter 5.
This is a guide from psnprofiles that I used when I played through the PS4 version.
During Chapter 5, you'll need to meet Oda at Cafe Alps in order to continue the story. It's recommended to save just before in case you mess this up. When you enter the Cafe, you'll be told to take a seat wherever you like. Go over to the "Table near the Back" (it has four chairs) and interact with it, then choose "Take the Nearest Seat". The server will ask if you're ready to order, but make sure you pick "Nothing" from the selection. Later on, Yamanoi will enter the Cafe, and when Oda introduces Kiryu to him, you'll need to pass a QTE, so make sure you're not caught off guard. You will receive the achievement once the conversation has ended.