The disclosure includes embodiments for providing efficient beam tracking for millimeter wave (mmWave) communication beam alignment between a vehicle and another endpoint. In some embodiments, a method includes executing an initial beam alignment process to establish an initial mmWave link setup with an endpoint so that a first mmWave communication process is performed with the endpoint. The method includes determining whether a second mmWave link setup is needed to perform a second mmWave communication process with the endpoint. Responsive to determining that the second mmWave link setup is needed, the method includes executing a limited beam alignment process to establish the second mmWave link setup so that an amount of time needed to establish the second mmWave link setup is minimized.