diff --git a/packages/base-driver/lib/jsonwp-proxy/proxy.js b/packages/base-driver/lib/jsonwp-proxy/proxy.js
index 8d7f22885..5f43daa40 100644
--- a/packages/base-driver/lib/jsonwp-proxy/proxy.js
+++ b/packages/base-driver/lib/jsonwp-proxy/proxy.js
@@ -15,6 +15,7 @@ import ProtocolConverter from './protocol-converter';
 import {formatResponseValue, formatStatus} from '../protocol/helpers';
 import http from 'http';
 import https from 'https';
+import { match as pathToRegexMatch } from 'path-to-regexp';
 
 const DEFAULT_LOG = logger.getLogger('WD Proxy');
 const DEFAULT_REQUEST_TIMEOUT = 240000;
@@ -110,13 +111,24 @@ class JWProxy {
     this._activeRequests = [];
   }
 
+  /**
+   * Return true if the given endpoint started with '/session' and
+   * it could have session id after the path.
+   * e.g.
+   * - should return true
+   *   - /session/82a9b7da-faaf-4a1d-8ef3-5e4fb5812200
+   *   - /session/82a9b7da-faaf-4a1d-8ef3-5e4fb5812200/url
+   * - should return false
+   *   - /session
+   *   - /sessions
+   *   - /session/
+   *   - /status
+   *   - /appium/sessions
+   * @param {string} endpoint
+   * @returns {boolean}
+   */
   endpointRequiresSessionId(endpoint) {
-    return !_.includes([
-      '/session',
-      '/sessions',
-      '/status',
-      '/appium/sessions'
-    ], endpoint);
+    return !!(pathToRegexMatch('/session/:sessionId{/*command}')(endpoint));
   }
 
   set downstreamProtocol(value) {
@@ -133,7 +145,7 @@ class JWProxy {
       url = '/';
     }
     const proxyBase = `${this.scheme}://${this.server}:${this.port}${this.base}`;
-    const endpointRe = '(/(session|status))';
+    const endpointRe = '(/(session|status|appium))';
     let remainingUrl = '';
     if (/^http/.test(url)) {
       const first = new RegExp(`(https?://.+)${endpointRe}`).exec(url);
@@ -147,7 +159,7 @@ class JWProxy {
       throw new Error(`Did not know what to do with url '${url}'`);
     }
 
-    const stripPrefixRe = new RegExp('^.*?(/(session|status).*)$');
+    const stripPrefixRe = new RegExp('^.*?(/(session|status|appium).*)$');
     if (stripPrefixRe.test(remainingUrl)) {
       remainingUrl = /** @type {RegExpExecArray} */ (stripPrefixRe.exec(remainingUrl))[1];
     }
diff --git a/packages/base-driver/test/unit/jsonwp-proxy/proxy.spec.js b/packages/base-driver/test/unit/jsonwp-proxy/proxy.spec.js
index 933dce8f2..496501d8b 100644
--- a/packages/base-driver/test/unit/jsonwp-proxy/proxy.spec.js
+++ b/packages/base-driver/test/unit/jsonwp-proxy/proxy.spec.js
@@ -107,6 +107,12 @@ describe('proxy', function () {
       let j = mockProxy();
       let newUrl = j.getUrlForProxy('/status');
 
+      should.exist(newUrl);
+    });
+    it('should not throw an error if url does not require a session id with appium vendor prefix and its null', function () {
+      let j = mockProxy();
+      let newUrl = j.getUrlForProxy('/appium/something');
+
       should.exist(newUrl);
     });
   });
@@ -209,4 +215,30 @@ describe('proxy', function () {
       res.sentBody.should.eql({value: {message: 'chrome not reachable'}});
     });
   });
+  describe('endpointRequiresSessionId', function () {
+    const j = mockProxy({sessionId: '123'});
+
+    [
+      '/session/82a9b7da-faaf-4a1d-8ef3-5e4fb5812200',
+      '/session/82a9b7da-faaf-4a1d-8ef3-5e4fb5812200/',
+      '/session/82a9b7da-faaf-4a1d-8ef3-5e4fb5812200/url',
+      '/session/82a9b7da-faaf-4a1d-8ef3-5e4fb5812200/element/3d001db2-7987-42a7-975d-8d5d5304083f',
+    ].forEach(function (endpoint) {
+        it(`should be true with ${endpoint}`, function () {
+          j.endpointRequiresSessionId(endpoint).should.be.true;
+        });
+    });
+
+    [
+      '/session',
+      '/session/',
+      '/sessions',
+      '/appium/sessions',
+      '/status',
+    ].forEach(function (endpoint) {
+        it(`should be false with ${endpoint}`, function () {
+          j.endpointRequiresSessionId(endpoint).should.be.false;
+        });
+    });
+  });
 });