You can't please everyone all the time, so I aim to please the majority most of the time.
But take the broken staircase as an example. In the case of a stone staircase it was loose bits of rubble and steps breaking off so acrobatics seemed appropriate. But how broken is it? Is it missing sections you have to leap across which might make athletics more appropriate? A wooden staircase with half-burned steps so use perception? Was there a pattern to the burn marks so investigation (particularly for that PC with the carpenter background)?
The same situation may call for different checks based on how I know my players will approach it. One may just take plow through while another may dodge gracefully. Someone may not have the strength to jump a chasm but I've described roots hanging down from the ceiling so they want to jump and swing across using an acrobatics check.
Last, but not least, I simply don't tell them a target number. I just describe the scene and let them know if there's a risk of failure and why.
Yup on the not one true way bandwagon, i treat characters as befits their statistics... which often means they would have an idea whether a task is say in the range of 95% fail likely or 95% success likely... so i actually do not do blind checks.
They may not know factors which would alter the DC, but i at least give them the benefit of the doubt based on the factors they know.
I am no athelete but if someone were to drop a plastic bag of socks to me from the second floor i would have a good idea whether or not i was likely to catch it... and if it were a plastic bag of heavy bricks i would know differently... nothing blind except the final outcome.
For a proficient character looking at a task... nothing blind except those things they dont know.
It just always seemed to me the games play out better when the assumption of competence comes from the character and players are able to make informed choices, rather than blind ones, in the longer scheme of things across many different types of games. its much more dramatic when they know their chances and take the risk as opposed to just blindsiding them with "maybe, maybe not" odds making.