In our increasingly interconnected world, ensuring inclusive and reliable mobility is paramount. Cooperative, Connected, and Automated Mobility (CCAM) solutions can play a pivotal role in addressing the diverse needs of people with mobility challenges. Through an extensive literature review, this paper constructs a theoretical framework to understand mobility needs within the context of CCAM comprehensively. It delves into individual characteristics, including socioeconomic, psychological, cognitive, and physical factors influencing mobility needs and behaviors. Using an extended version of Ajzen's Theory of Planned Behavior and models on motives and needs, it describes the dynamics between user characteristics, CCAM service characteristics, and the formation of intentions that subsequently affect the actual usage. The framework covers three levels: ‘Mobility Needs,’ ‘CCAM Design Requirements,’ and ‘Intention & Use.‘ In conclusion, this theoretical framework offers practical utility by informing the design of CCAM solutions to foster higher adoption rates and heightened mobility satisfaction across diverse user groups. The gathered results can be directly applied to evolve future CCAM solutions by researchers, service providers, and manufacturers.