Trophies/achievements are supposed to be optional challenges that really prove the player's skills or strategical planning. Nowadays most first party plats are handed out with minimum actual efforts - in a sense just like how gen z grow up I guess - everyone got some sort of trophies.
Yes, my favorite trophies are also the ones that reward you for exploring, doing alternative things, etc., but I couldn't disagree more that you said Insomniac trophies are those. They are the most generic completion checks, how does " Purchase all Gadget upgrades, 100% complete all districts, Purchase all available Suits, Reach max level, Complete all Hunter Bases" and many more count as towards rewarding exploring when all of those are literally marked on the map? In this sense every assassin's creed trophy list is a great list.
Plats that actually fit the description would be something like the Dishonored series where they game didn't tell you what to do but by trophy hunting you would figure out some many new different approaches and experimenting. Those are some among the best plat experiences I ever had.