Storyline, unmissable Achievement. After completing
https://www.trueachievements.com/a219066/tarnished-knight-ac...You will exit the caves and be back at the caravan. Cut the rope to lower the barricade, You'll want to turn in all side quests you can, then talk to the party member you left behind to guard the caravan.
After you talk to her, there will be a short dream sequence with no combat. Finish this, and the trophy will unlock when you wake up.