A method for planning and adapting a recommended travel route to a route destination for a vehicle having various subsystems includes identifying the route destination and receiving vehicle health management (VHM)/state of health (SOH) information for each subsystem. The vehicle with a controller programmed to execute the method is also disclosed. The method includes calculating route characteristics of candidate travel routes to the destination using the VHM information and determining, from among the candidate travel routes, travel routes for which the characteristics meet a respective threshold requirement. Thereafter, the controller executes a control action by displaying a candidate route meeting the threshold requirements. An occupant is prompted to revise the mission requirements when no candidate route exists. A default route to a designated parking location or repair depot may be displayed when none of the candidate routes meet the threshold requirements.