In order to get the "Well Met..." trophy in Burly Men at Sea, you need to reach any ending in which the sailors are above water. This can be on land or in a boat.
Here's one example, in which you need to lose the race after getting in the barrels and then take a right when given a choice in the tunnel.
(Remember to make cross saves before trophy related decisions to drastically speed up your play throughs).
Here's the steps from when you enter the Whale, which is an unavoidable incident at the very beginning of the game:
-- Talk to the girls by the fire
-- Go all the way left until you see three barrels, interact with them
-- Interact with them again after the dialogue
-- Head right and go through the door behind your ship
-- Scroll right, get through the dialogue
-- Interact with the uvula, get through the dialogue
At this point you'll get:
-- Swim right, dialogue
-- Scroll right, dialogue
-- Move the cursor to the blonde Burly (Hasty Beard) and hold X until he falls back to last place (you don't need to follow him with the cursor once you are holding X)
At this point you'll get:
-- Go right, dialogue
-- Interact with the Blue Orb, dialogue
-- Right and right again, more dialogue
-- Hold R2 (R on Vita) to take the right tunnel
-- Go right, dialogue
At this point you'll get:
-- Head right onto the boat
-- Interact with the rope on the left
-- Sail right, dialogue
At this point you'll get the trophy. You should also get this trophy if you haven't already:
You can continue on from here to end up back at the start of the game for your next run, or load up your cross-save if you are playing efficiently to take a different branch.