VERY MINOR SPOILERS -
After entering the open world, progress normally. Activates FOBs as you go but hood off on the main objectives.
From here, search around using your map for armor cores that are scattered about. You will need 9 total armor cores per ability, including grapple.
Now press
and navigate to the upgrades tab. Allocate your points as you see fit, but for this achievement put 9 into the grapple one.
Update 12/11/21 - Yes, this achievement is bugged, I am aware. The ONLY fix I am aware of is basically scorched earth, so I suggest you only do this if absolutely necessary. First, delete ALL save data, local and online.
This will wipe ALL progress you have made in Campaign but not in Multiplayer. The re-attempt the achievement. I am sorry that this is the only option right now but It's not our fault as fans that the game is in a bugged state cry.
DO NOT DELETE YOUR SAVE IF YOU ARE NOT WILLING TO LOSE EVERYTHING!