From the article - “The agency said Rapp and a fellow bicyclist were riding on a local road when Medina passed them in his car, stopped, and drove his vehicle in reverse. Medina then hit Rapp, and she was pronounced dead after emergency responders brought her to a hospital.”
Agreed, intent is hard to prove. That’s why the law also says, “knowingly.” He definitely knew he could kill someone by hitting them with his car.
The man had priors for reckless driving, according to the article. And a bunch of other things.