Nazi Germany was always planning on invading the Soviets EVENTUALLY, and both sides were aware of that - the Soviets just thought the Nazi timetable was a bit later. As for the Soviets, Stalin exercised such total control over the Soviet government apparatus and was furtive about his plans even in the best of times, so it’s hard to know what they were planning in the long-term - if anything - other than asserting their continued interest in dominating Eastern Europe.