These two are somewhat related. One is the destination while other is the ladder towards the destination. Intention seems trivial, but it plays a very important role in reaching the destination.
Pushing forward towards the goal needs intention. Without the positive intention of pushing forward, a destination is never attained; it will just remain the destination.
Merriam-webster defines intention as a determination to act in a certain way. It’s actually a plan towards the destination and the destiny is the goal. Without such unwavering determination, a goal will just remain as a wish.
Intention is nothing more or less than a the pathway towards the goal.