This is a late-game strategy, where you will need all of the Gods unlocked, you will need the Halo, and it will be very helpful to have visited all of the Demon Realms.

Go to your Quest menu and systematically teleport to every God aside from Hades. Once you have visited their rooms, go to your inventory and teleport to every Demon room (don't go in the doors). After visiting a few, you should get the achievement. No danger, no effort.

Easy and quick.