German borrowed it in the 8th century from Latin and it apparently also was very religion focused for a long time. Surprisingly when I looked it up the noun Kreuzung for a road crossing came only into use in the 19th century apparently, and even the verb "kreuzen" for the directional movement only in the 17th from nautical terms (it also means cruise in German, when you sail against the wind). Before that it was apparently just religious stuff, like putting somebody on a cross or making the sign of the cross, which now got replaced by "kreuzigen" and "sich bekreuzigen" as the previous one got all the plain geometrical and movement meanings.

Now I wonder what people used for their intersections before that if they didn't say "Kreuzung"...