Asymptotic flatness basically means that you can apply a conformal transformation to your spacetime so that it becomes compact, and it admits a boundary having the same causal structure as the boundary of Minkowski space ($\mathscr{I}^-$, $i^0$, and $\mathscr{I}^+$). Different people give different details for the definition, which seem to include additional requirements such as regularity, no CTCs at infinity, and no matter at infinity. For reference, here is a non-paywalled discussion by Frauendiener. Wald also has a treatment of the topic in ch. 11.
If I go through my repertoire of interesting solutions to the Einstein field equations, the primary examples are ones for which it's either obvious that they're asymptotically flat (Schwarzschild) or obvious that they're not asymptotically flat (cosmological spacetimes, which don't have matter-free regions). In none of these cases do I see much motivation for all the fancy machinery involved in the definition. Can anyone suggest a minimalistic example (or more than one) that would help to provide such a motivation?
Related:
What does asymptotically flat solution mean?
What techniques can be used to prove that a spacetime is not asymptotically flat?