Escapologist Trophy in Baldur's Gate 3

1. Steal something in sight of a grove guard.
2. When they catch you, choose to go to prison.
3. In the cell, jump through the opening in the corner onto the ledge below.
4. Climb around to the outside of the cell, avoiding the traps.

The trophy unlocks once you are out. The goblin camp's jail works too, through the collapsed tunnel in its cell.