This achievement is story related and not missable (unless it becomes bugged, like it did for me).
This achievement will appear when you enter the elevator to leave the underground complex, Vavilov, which you enter at the beginning of the game. This section can take a while to get through, not out of difficulty - it's just very long section.
Eventually, you will come to the Birchtree which needs four different canisters to open a door. After all of these canisters are inserted, you will be guided to an elevator to leave the complex. Here, Charles will ask if you are ready to leave. Tell him you are ready to go and enter to the elevator, soon after the doors close the achievement should pop.
Atomic Heart achievements have been very glitchy and this one didn't pop for me the first time, so I had to replay a bit Vavilov complex to get this to pop. If it does not pop for you, try relaunching your game and hope it didn't save once you were above ground. If that doesn't work, be sure to save and load an earlier save and replay the ending to the Vavilov complex - that's how I got this achievement to pop.
There is too much to do in the Vavilov complex to give a full walkthrough here, so linked below is a walkthrough of the entire game. In the video, he enters the Vavilov complex at 00:40:00 and he enters the elevator to leave the Vavilov complex at 3:20:00.
Good luck achievement hunting this game guys, you're going to need it.