A computer-implemented method for selecting a route for a vehicle communicating with a network system, the method comprising: receiving, by the network system, a service request for a user, the service request including a requested origin location and a requested destination location; generating, for an active vehicle traversing an active route and having one or more previously assigned waypoints, waypoint plans, each waypoint plan indicating an order of locations to be traversed by the active vehicle, wherein waypoints in each waypoint plan include the requested origin location, the requested destination location, and the previously assigned waypoints; for each waypoint plan: determining a directionality component for each waypoint, wherein the directionality component of a waypoint is based on the location of a subsequent waypoint in the waypoint plan; retrieving associated candidate points for each waypoint, wherein each candidate point is proximate to the waypoint and has a directionality within a directionality threshold associated with the directionality component of the waypoint, wherein the directionality of each candidate point is defined by a direction of traffic on roads of an associated intersection; generating candidate point combinations, each candidate point combination having one candidate point associated with each waypoint in the waypoint plan; determining a vehicle route and associated route duration along with walking routes for each candidate point combination, wherein each associated walking route comprises a walking route between a respective candidate point and the associated waypoint, and wherein the vehicle route passes through each candidate point in the candidate point combination in an order specified by the waypoint plan; selecting a route, of the determined vehicle routes, for the active vehicle by evaluating the determined vehicle routes for each waypoint plan of the active vehicle, based on the duration of each vehicle route and distance of each vehicle route; and transmitting, by the network system, the selected vehicle route to the active vehicle. receiving, by the network system, a service request for a user, the service request including a requested origin location and a requested destination location; generating, for an active vehicle traversing an active route and having one or more previously assigned waypoints, waypoint plans, each waypoint plan indicating an order of locations to be traversed by the active vehicle, wherein waypoints in each waypoint plan include the requested origin location, the requested destination location, and the previously assigned waypoints; for each waypoint plan: determining a directionality component for each waypoint, wherein the directionality component of a waypoint is based on the location of a subsequent waypoint in the waypoint plan; retrieving associated candidate points for each waypoint, wherein each candidate point is proximate to the waypoint and has a directionality within a directionality threshold associated with the directionality component of the waypoint, wherein the directionality of each candidate point is defined by a direction of traffic on roads of an associated intersection; generating candidate point combinations, each candidate point combination having one candidate point associated with each waypoint in the waypoint plan; determining a vehicle route and associated route duration along with walking routes for each candidate point combination, wherein each associated walking route comprises a walking route between a respective candidate point and the associated waypoint, and wherein the vehicle route passes through each candidate point in the candidate point combination in an order specified by the waypoint plan; selecting a route, of the determined vehicle routes, for the active vehicle by evaluating the determined vehicle routes for each waypoint plan of the active vehicle, based on the duration of each vehicle route and distance of each vehicle route; and transmitting, by the network system, the selected vehicle route to the active vehicle. determining a directionality component for each waypoint, wherein the directionality component of a waypoint is based on the location of a subsequent waypoint in the waypoint plan; retrieving associated candidate points for each waypoint, wherein each candidate point is proximate to the waypoint and has a directionality within a directionality threshold associated with the directionality component of the waypoint, wherein the directionality of each candidate point is defined by a direction of traffic on roads of an associated intersection; generating candidate point combinations, each candidate point combination having one candidate point associated with each waypoint in the waypoint plan; determining a vehicle route and associated route duration along with walking routes for each candidate point combination, wherein each associated walking route comprises a walking route between a respective candidate point and the associated waypoint, and wherein the vehicle route passes through each candidate point in the candidate point combination in an order specified by the waypoint plan; selecting a route, of the determined vehicle routes, for the active vehicle by evaluating the determined vehicle routes for each waypoint plan of the active vehicle, based on the duration of each vehicle route and distance of each vehicle route; and transmitting, by the network system, the selected vehicle route to the active vehicle.