They would mostly supplement their lifestyle by being traders, but those were only those societies with domesticated camels. A lot of the desert adjacent nomads would invade and conquer settled civilizations, but that was usually during times of civilizational weakness (ex. the Amorites, Arabs)
The Anasazi in New Mexico and the Hohokam and Mogollon in Arizona didn't even have pack animals except for dogs. They used irrigation to farm desert crops like prickly pear cactus and agave, and their pottery and trade goods have been found as far away as Illinois and Louisiana.
Short answer: no.
Not quite as short answer: raiding is a matter of convenience. Like the other Kiwis said, you can either put in the effort to make land arable, raise livestock, or produce something worth trading- or you can take what you want from someone else. Societies that thrived on raiding did so because it was easier than sustaining their society the hard way.
if shit hit the fan you could expect them to raid their neighbors instead of starving to death
but yeah... going around killing people in the middle of a bumfuck desert was expensive and dangerous in those days. People mostly just minded their own business and herded camels.