There is a need of having properly aligned intentions in order to have a meaningful pilgrimage. Even though it is a need, it is not a prerequisite for starting a pilgrimage. Intention is a heart matter. And heart matters aren't always straight forward.
Sometimes it takes some time to figure things out. Sometimes you need to start walking before you know why you are walking. Sometimes you need to go in order to know why you left. Intention has to do with the very center of your being. It is not always easy and obvious stuff.
A gentle reminder: Get your heart stuff right and a lot of good will follow.