A computing system can receive sensor data from one or more computing devices co-located with a vehicle, where the sensor data indicates a seating arrangement of one or more current passengers of the vehicle. The system can receive location data from the one or more computing devices co-located with the vehicle, and using the sensor data and the location data, the system determines a first route for the vehicle to travel to a start location of a requesting user such that a curbside seat of the vehicle is available for the requesting user. The system then transmits navigation instructions to the one or more computing devices co-located with the vehicle to provide routing directions corresponding to the first route.