The disclosure includes embodiments for performing beam alignment based on driving intentions. A method includes receiving a wireless message that includes first vehicle data that describes a first vehicle position, a first vehicle speed, a first vehicle heading, and a first vehicle driving intention. The method further includes determining whether a blockage is predicted to occur based on a second vehicle position, a second vehicle driving intention, and the first vehicle data. The method further includes, responsive to the blockage being predicted to occur, determining a non-line of sight (NLOS) path based on the second vehicle position, the second vehicle driving intention, and the first vehicle data. The method further includes before the blockage is predicted to occur, performing beam alignment between the first vehicle and the second vehicle based on the NLOS path.