The achievement for a yogi is an afterlife condition which facilitates continued spiritual upgrade. A yogi should not be idealistic but should have a practical plan so that when he/she is deprived of the present physical body, the remaining self energy in the form of a subtle or psychic body, will be in an environment where yoga practice can continue and become accelerated.
It is not a matter of where the yogi wants to go or the state of consciousness he desires to achieve. It is more about what he would attain as a natural consequence of his practice. A yogi should estimate what nature would grant him rather than rely on hopes and dreams based on religious affiliation and promises of a particular sect.
The least is to experience higher states while using the physical form and to achieve these regularly during the life of the physical body, such that he/she becomes so familiar with these, that he/she has a coherent reference in memory of repeatedly going to that higher level during practice.
On May 10, 2019, I did a session of breath infusion with Sir Paul Castagna, a deceased yogi. He comes to do practice on the astral side, as I do so with the physical body. Being fully psychic because of losing his last physical system, he can precisely see what happens in my subtle body as I do the breath infusion practice.
He did every posture I did and mimicked whatever breath infusion I completed. After some time of practice, after about twenty minutes, there was a zonal kundalini release where in the trunk of the subtle body there was a clear water light which had a near neutral bliss aspect. This caused our subtle bodies, to jump to the level of the maharloka higher dimensional location where great yogis abound. Neither of us saw any other yogi but we knew that we were in the realm of Maharloka because of the texture and quality of the bliss energy.
This energy is such that it causes full introspective pratyahar where the sensual energy in the psyche internalizes on itself only and has no interest in pursuing anything outside the psyche. The psyche has no interest in using senses for procuring curiosities and fulfillments in the environment which is outside the subtle body.