Here is the full list of all 52 Dark Envoy achievements.
Spend a total of 30 minutes in tactical mode in one playthrough
Kill 5000 enemies
Kill 5 enemies with one skill cast
Finish the game
Defeat the final boss on Easy difficulty or higher
Defeat the final boss on Normal difficulty or higher
Defeat the final boss on Hard difficulty or higher
Defeat the final boss on Insane difficulty
Open the secret vault in the Forbidden Fortress
Finish all companion quests available in one playthrough
Complete Tet/Kim’s Companion Quest
Finish act 3
Complete Sestia’s Companion Quest
Craft a Tier III item
Complete Leon’s Companion Quest
Recruit Kim or Tet
Finish act 2
Lead your faction to victory in the Research Facility
Have all 4 characters simultaneously afflicted by a disabling effect (stun or similar)
Spend 20000 gold in total
Pass all of the Ancients' puzzles
Kill an enemy with unarmed attacks
Unlock the 3rd level of your specialization's ultimate skill
Read 30 notes or journals in one playthrough
Craft 20 items
Enchant 20 items
Kill an ally by triggering an explosive barrel (or similar element of environment)
Make 10 story choices in one playthrough
Kill 1000 enemies
Have 3 unique draw skills active at once
Complete Vasso’s Companion Quest
Reach lvl 10
Collect 10000 gold
Destroy each type of explosive environment in one playthrough at least once
Collect 15 unique items
Explore 6 random dungeons in one playthrough
Complete Benedict’s Companion Quest
Have 5 units simultaneously summoned
Kill 500 enemies
Recruit Leon, Vasso and Sestia
Interact with the point of interest at the end of the dock in Free Phoenicia
Max out an attribute
Finish act 1
Unlock the 3rd level of your base class's ultimate skill
Interact with 20 points of interest in one playthrough
Recruit Benedict
Use waypoints 20 times in total
Research 10 upgrades
Kill 15 enemies using weapon skills
Heal 5000 hp points in total
Finish a level without using any healing fountains
Research all upgrades in one research branch