I do not unlock achievements/badges for routes that I had not pre-picked at the start-up screen but I did the turns myself.
E.g. I started Yorkshire selecting the route “Tour of Tewit Well” and continue riding “Queen’s highway” as I had researched the route in advance. But no achievement/badge was given. I then restarted Zwift and picked the route at the start-up screen and this time the achievement/badge did unluck.
I consider this a bug.