Trip negotiated corners, avoiding borders, in great pleasure (7)
I believe the answer is:
journey
'trip' is the definition.
(journeying is a kind of tripping)
'negotiated corners avoiding borders in great pleasure' is the wordplay.
'negotiated corners' becomes 'turned' (to turn is to negotiate around corners).
'avoiding borders' means to look at the middle letters (the letters at the borders of the word).
'in' is an insertion indicator.
'great pleasure' becomes 'joy'.
The middle letters of 'turned' are 'urne'.
'urne' placed within 'joy' is 'JOURNEY'.
(Other definitions for journey that I've seen before include "'Trip, excursion (7)'" , "Expedition" , "Trek" , "Trip; travel" , "Voyage" .)