Valor - Just beat enemies in the form. You get 1 point per strike.
Wisdom - Defeat Heartless in the form. I suggest the start of TWTNW where all the Shadows are.
Master - Collect the Drive Gauge orbs while in the form. I suggest Land of Dragons at the hill peak. Defeat the nobodies, break the barrells and fireworks, go past the checkpoint, repeat.
Final - Defeat Nobodies while in the form.