Yooka-Laylee

In order to unlock and expand Grand Tome worlds, you need to collect Pagies. Each world will cost a specific amount of Pagies to unlock and some additional Pagies if you wish to expand them. You can expand worlds right away before entering them if you are in the possession of enough Pagies so if you don't want to exit and re-enter a world you can always expand them before your first visit. You won't be able to do so for the first Grand Tome world, Tribalstack Tropics, though, as you will only have enough Pagies to unlock the world. The trophy will unlock as soon as you have expanded the fifth and final world of the game but you don't need to enter a world for it to count.