6G is expected to bring unprecedented advancements in the capabilities of vehicular networks. However, the advent of 6G will also introduce changes in the operation of vehicular communication infrastructures such as roadside units (RSUs), including the incorporation of autonomous intent-based network paradigm and integrated sensing and communication (ISAC) capabilities. While ISAC enables sensing and communication within a single 6G network node, intent-based network design paradigm ensures that network nodes such as RSUs, act as autonomous cognitive agents to fulfill the objectives of their respective communication service providers. This paradigm shift necessitates the development of V2I communication strategies that learns and adapts to the sensing-assisted communication and the autonomous decision-making strategies of RSUs. We model the RSU as a constrained utility maximizer, where the utility function characterizes the RSU intent, and formulate an inverse learning (IL) problem to infer the underlying utility function from observed ISAC RSU actions, for example the adaptive beamwidth allocation in response to the kinematic states of vehicles within a vehicular micro-cloud (VMC). The main contributions of this paper are: (i) ATIL, a nonparametric method based on Afriat theorem for fixed utility learning; (ii) FICNNIL, a parametric approach using fully input-concave neural networks, for structured fixed utility learning; and (iii) PICNNIL, a parametric approach based on partially input-concave neural networks, for inverse learning of state-dependent utilities. (iv) Federated inverse learning algorithms FedFICNNIL and FedPICNNIL for fixed and state dependent utility, respectively. We demonstrate the proposed IL-based framework for two V2I communication applications in VMCs, namely predictive scheduling for cooperative data downloading and dynamic cluster-head selection.