This group of achievements relate to the five companions originally available to Trooper characters. There are 145 legacy points spread between 12 achievements in 5 subsections. Most of these are relatively easy so long as you play with all your companions throughout the story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Aric. These kills count if you recruit the companion during the Knights of the Fallen Empire expansion, or from playing the Trooper story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Elara. These kills count if you recruit the companion during the Knights of the Eternal Throne expansion, or from playing the Trooper story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with M1-4X. These kills count if you recruit the companion during the Knights of the Fallen Empire expansion, or from playing the Trooper story.
10 Legacy Points
This achievement is unlocked for recruiting M1-4X on any Republic character from the Alliance Alert Mission, Booming Vocoder For Freedom. You can only recruit M1-4X after recruiting Yunn. The mission needed to complete this is;
Booming Vocoder For Freedom
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Tanno. These kills count if you resummon the companion during the Knights of the Fallen Empire expansion, or from playing the Trooper story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Yuun. These kills count if you recruit the companion during the Knights of the Fallen Empire expansion, or from playing the Trooper story.
10 Legacy Points
This achievement is unlocked for recruiting Yunn on any character from the Alliance Alert Mission, To Find a Findsman. This is the first available Alliance Alert Mission, and you cannot unlock any others until you complete this mission. You must finish Chapter IX of Knights of the Fallen Empire to access Alliance Alert Missions. The mission needed to complete this is;
To Find a Findsman