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