Yes, if you print from a Proof Copy (as set up by Soft Proof in Develop), then the Print module will honor whatever render intent you set up with that Proof Copy. Just make sure you're using the same printer profile as you used for the proof copy. (This behavior is briefly summarized in the mouse-over tooltip for the Perceptual/Relative intent option in the Print Job panel.)
This means you can send a single print job of 20 images, mixing and matching intents.
This also means you can put multiple images on a page (e.g., contact sheet), and different images on that page can have different intents.
Thanks Eric!
Is it valid for different profiles too?
Example 1:20 photos (from 20 proof copies), each on a separate sheet, same printer but different profiles (some profile maker output 3 variations to protect highly saturated tones on a different basis).
Example 2:Same as above, but 2 or more pictures on the same sheet, each with a different profile/intent.
This may seem odd, but I mostly print on sheets, often big sheets, often with more than one photo each. Sometimes I just launch with relative intent for all the images (easy...), but when high saturation tones are involved, colorful profiles with perceptual intent may match with standard profile with relative intent.