Here is the full list of all 52 Millennium - there are A New Hope achievements.
Djinn Slain
Complete 6+ quests
Rogue Slain
Use Benoit's hand technics 5+ times
50+ items found
Find 1+ secret room
Kill 100+ enemies with Marine
Play 1+ hour
Collect 10+ orbs
Complete 1 quest
Find 5+ items
Kill 10+ enemies with Marine
Use Jeanne for the first time
Finish the game in less than 10 hours in Hard Mode
Spend 20+ hours on the game
More than 100 Orbs collected
Use Benoit's hand technics 50+ times
Summon Jeanne 50+ times
Kill Crocodile King
Kill Lord of the Roots
Kill Golem King
Kill Twin Tigers
Kill Bear King
Kill Rat King
Kill Queen Bee
Kill Lord of the Ants
Hard Mode Completed
All quests completed
30+ quests for Hirado
Held more than 30 000 Gold
500+ Kills for Marine
500+ Kills for Karine
1000+ Fights
Karine Baroness Promotion
20+ secret rooms found
All secret rooms found
10+ changes of strategy
5+ Guts from Marine
10+ uses of Marine's Talk
5+ successful uses of Karine's Craft
Kill all animal kings
Save 100+ times
Discover all Bokden's locations
Complete the game fully (all quests, secret rooms and animal kings)
Use Benoit's hand technics 200 times
Never use "Go Through" until the end of the game
Find the secret forge
Find 5+ secret rooms
Kill 50+ enemies with Hirado