No, but "prepare" doesn't necessarily imply an action in English either, it can indicate intent, willingness or readiness.

Note that I said "internally translate", by which I mean that's how I translate it to myself when I hear it for the purpose of understanding, because it's unambiguous in that particular meaning. It wouldn't make sense to translate it that way for anyone else's benefit though because the first sense of the English word is the literal one you're using. If I was actually translating the word for someone else's benefit of course I'd use the most suitable of the options you listed earlier - "going to..." or "planning to...".