Are there missable achievements?

[missylib77]

I beat the game once already, but wasn't able to get the essence/human savers club achievements. I'm on my second playthrough and neither have activated yet. Am I screwed out of never getting them now?
*edit option working now. Achievements completed 3 hours after posting this. Is someone able to move this to the guide section because of my one comment please? No website ever had an answer so my struggle might be helpful to someone else. Thank you*

[missylib77]

Finally got the essence one, but I've taken all 6 friends to shrines with me and used each ability. I'm starting to feel like its unlockable only during the final boss :/

[missylib77]

I used all 6 abilities during the final battle and still no achievement. I died once with one ability left to use so did that erase my other uses? I don't want to play the whole game again just to get back to the final boss. D:

[missylib77]

It took me three playthroughs to finally have the last achievement activate! It should've registered the previous attempt, but I'm just glad I can stop playing finally. For anyone struggling with this one:
Day 2, use Liza, Horace and Rainy, switching them out for the 'helmit' ability after the previous person.
Day 3, use Ciresse, Lux and Vesper using the same method as the day before.
My last attempt had each person with a different ability shape, but the game wasn't registering them even though I used all 6.