This requires you to obtain all 4 endings.
1) Heirs (bad ending) - kill every successor
2) To Eternity (mid ending) - Kill 1-3 successors, save the rest
3) Dweller in the Dark (good ending) Save all successors
4) Best ending - save all successors and restore all eos vestiges (unsure if its eos you need)
The route I used and the most efficient I believe is this:
1) Run the game as normal, restore all vestiges but not all eos vestiges
2) Beat the final boss, and reload your save again now restore the eos vestige and kill them again
(I believe you should get the queen vestiage from this.)
3) Start NG+ (Starting on the same difficulty will make this much easier)
(You can skip the tutorial by walking to the mistle)
4) kill every successor again and beat the game once more
5) NG+ once more, kill all successors but one ( I saved eva since she's the last successor)
I get this seems really arduous but a NG+ run takes about 4 hours tops if you don't suck.