Single Task Multiple Types

No, I don’t believe this is possible. Achievements belong to a single type.

You could have smaller sub-tasks that are required as part of unlocking a larger badge. Use the ‘award by steps’ method and add as many steps as you need… you can use the ‘specific achievement of type’ step to specify required sub-tasks.

I wish it were possible to “tag” achievements as belonging to types rather than rely on custom post types. It’s currently not possible to move achievements from one type to another without deleting and re-creating.