The search for substellar companions using radial velocities faces two main challenges: the indeterminacy of orbital inclination and the partial coverage of long-period orbits >10 years. The Gaia telescope, with 3 years of astrometric data published in 2021, and, by the end of 2026, the release of 6 years of data, provides solutions to both issues. I will show how it is already possible to use DR3 data to constrain the inclination of orbits with known periods, and to identify long-period companions, either stellar or substellar using Gaia astrometry. I wish to present a tool called GaiaPMEX, introduced in 2 recent papers (Kiefer et al. 2024 a, b). It characterizes the mass and semi-major axis of any possible companion around any source observed with Gaia. One of my goals is to exploit the billions of Gaia sources to find new samples of exoplanet candidates. With GaiaPMEX, I thus identified a sample of 9,698 planet candidate hosts. I will conclude by discussing the prospects opened by the upcoming release of Gaia's full astrometric dataset expected by the end of 2026, and the arrival of all those new exoplanetary targets at the disposal of future follow-up projects.