Millimeter-wave (mmWave) networks offer the potential for high-speed data transfer and precise localization, leveraging large antenna arrays and extensive bandwidths. However, these networks are challenged by significant path loss and susceptibility to blockages. In this study, we delve into the use of situational awareness for beam prediction within the 5G NR beam management framework. We introduce an analytical framework based on the Cramér-Rao Lower Bound, enabling the quantification of 6D position-related information of geometric reflectors. This includes both 3D locations and 3D orientation biases, facilitating accurate determinations of the beamforming gain achievable by each reflector or candidate beam. This framework empowers us to predict beam alignment performance at any given location in the environment, ensuring uninterrupted wireless access. Our analysis offers critical insights for choosing the most effective beam and antenna module strategies, particularly in scenarios where communication stability is threatened by blockages. Simulation results show that our approach closely approximates the performance of an ideal, Oracle-based solution within the existing 5G NR beam management system.