Specifically, the trophy in Collapsed Streets that's behind the mines. I've been able to use the Batclaw while crouching to grab it on my way to Ra's so I don't have to backtrack, but I don't know if it's considered using a glitch of not.

We've never made a formal decision on it because it's never really come up before. Personally I feel that it's more of an exploit than a glitch, since you're batclawing through gaps in the geometry and not actually through walls, but I can't make any promises about what would or wouldn't be banned if Glitchless 100% was ever properly added to the leaderboard.

I wouldn't consider it a glitch, I also see it as more of an exploit. You abuse the fact that geometry in some places was weirdly made, and you can grab the trophies by just using your batclaw, without the need to do extra steps (almost, crouching doesn't count)