Yes. The Garamantes had a string of cities in the western Sahara, based on "fossil water" from caverns, left from the days of the Green Sahara. This would be south of modern Tunisia & Libya. They were at their height 500 BC to 700 AD, or about 1200 years. They warred with the Romans, used an early version of the Tuareg script, and may have spoken a variety of Tuareg.

One of the things they imported were horses, but drove them to a style of chariot and with a kind of harness unknown to the rest of the Mediterranean. (Spruytte, Ancient Harness Systems) It's similar to the Cape Cod harness, with traction from the bridle rather than a harnessed body.

There was quite a lot of trans Saharan trade throughout antiquity. The Sahara began to dry out around 11,000 years ago; Which predates most known settlements!