Here is the full list of all 31 The Adventure Pals achievements. It takes around 10-12 hours to unlock all of the achievements on Windows.
Kill 20 yaks on world map
complete a stage in less than 3 minutes
Defeat Breakfast Buccaneer
giraffe-copter for 5 minutes in total
Beat an arena
Release 50 old people from hotdogs
Make it to second island
Defeat treefist
kill 100 enemies by jumping on their heads
Use a Weapon Mod
Use the Cupcake Converter
Collect 10 cupcakes
Complete your first objective
Level up your abilities for the first time
Collect first cupcake
Vanquish 10 enemies
Get your first pal
You've used nine lives but don't give up
Defeat Veggiesaur
Defeat Crab mech
Defeat Hot Dog Boss
start a co-op game
Give the whale the old mans underwear
Defeat all the arenas
Kill an enemy that's been converted to a bunny
Find 50% of the stickers
Fill up your sticker book
Get all achievements
Unlock all costumes
Fully Level Up
Finish the Game