Here is the full list of all 30 Haven achievements. It takes around 15-20 hours to unlock all of the achievements on Windows.
Hold each others' hands and never let go
Try on the flower boots
Give a healing hug
Become a bird perch
Take a spill each, back-to-back
Land a double backflip
Reach the heights
Block attacks until exhaustion
Launch a max-power assistance
Launch a max-power double-attack
Hit 5 critters in their weak spot, in one swoop
Pacify five critters in one swoop
Finish the game with 3 KO or less.
Beat the Beruberu
Beat the Lorudo
Beat the Heliga
Watch helplessly as the Nest falls
Finish repairing the Nest
Choose not to sever the flow bridge
Choose to sever the flow bridge
Midnight skinny dip
Getting handsy under the waterfalls
Lure in Birble with creamberry fondue
Taste the hygrocybe rubescens
Play a guitar ditty
Lose a game of strip-a-bobble
Reach the maximum relationship level
Fill the vegetable patch
Taste every dish
Clean up the rust on every fragment