There is a large tower in the middle of the map during chapter 4. You will climb up this tower as part of the story, but not all the way to the very top. When you are in the room near the top there are stone doors that you need to open. Do not interact with the lever in the middle of the room, instead climb up one of the doors that is broken. You can use this to climb up to the top. You need to wait a few moments while you are up at the top and listen to what Chloe has to say. After about a minute the trophy will unlock.
Appreciate the view at the top of the Hoysala Empire