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http://pillarsofeternity.gamepedia.com/Caed_Nua#Adventures
It says nothing about when they unlock though.
Also, I just finished the game, including pretty much all quests, tasks, and expansion content, with nearly 200 hours total put in, and I don't believe I ever saw a legendary adventure at the stronghold.
I havne't had anything like that in the new version.
Got it yesterday, a legendary adventure called "Liminal Bridges" eventually appeared. My guess is it's random.
At first I thought the Grand and Legendary adventures were added in the new update, and I was already almost finished with the game and had done almost every sidequest by then, so I didn't have many possible "turns" left at the stronghold. But if the higher tier adventures were already in the game prior to the update, then I have no idea why I never got any.
..Some of it is random though and you might just have been unlucky.
I started a new game where I stormed into Caed Nua with a level 2-3 party to get the stronghold as early as possible. I rebuilt the Main Keep to be sure adventures would be offered.
The first adventure was offered at Turn 16 around 15,000 XP. The next one at Turn 24 around 19,000 XP. Then one at Turn 32 around 25,000 XP, and the most recent one at Turn 40 around 30,800 XP.
Every 8 turns an adventure? How much quest XP per stronghold Turn is it? Three adventures with 15% XP, one with 25%. Need to continue playing tonight for more data.
Although the legendaries take their time to show up, by late game, youll get plenty (assuming you upgraded keep fully by the time).
In the previous playthrough, I've had the stronghold rebuilt completely for a long time without any Grand or Legendary adventures getting offered. Party was level 16, not much left to do, but it could be that I had rebuilt the Main Keep too late to start getting adventures.
Current guess is that the achievement is only a matter of time and doesn't depend on any stronghold upgrades other than the Main Keep. I got the Main Keep much too early this time, because the first adventure was offered only at stronghold Turn 16.
The game also cannot know what quests you will do next, so it cannot predict how many XP you will get next. I rebuilt the Warden house to do a first bounty at level 7, and that immediately completed the current minor adventure. Quest XP advance the stronghold turns.