I know that Egypt, and North Africa were the primary suppliers of grain to Rome, but I wonder if the people were ever angry at having to send a significant amount of their produce to feed some distant city?
The people of North Africa and Egypt were actually pretty okay with Roman rule, there were very few Roman troops garrisoned in each province, and the armies were pretty much made up of locals.
That doesn't mean they were constantly peaceful though.
In Egypt, which didn't become a part of Rome until the beginning of the Empire, there was a Jewish revolt in Alexandria after the destruction of Jerusalem in 70CE. But other than that, for 100 years Egypt was entirely peaceful.
But violence started to pick up in Egypt starting in 139 with a tax revolt. A few years later, in the 170's another revolt occurred (again over oppressive taxation) that momentarily threatened Alexandria. That revolt was stopped, but it marked the beginning of the decline of the Egyptian Economy. Revolts continued through the third century and, in the late 200's Zenobia of Palmyra actually captured Egypt from the Romans for five years. It was eventually recaptured by Aurelian -- but, by then it had been 150 years since Egypt had been a model province.
Africa Proconsularis -- which made up the middle third of North Africa was under Roman rule much longer than Egypt. It was initially brought under rule with Carthage's final defeat in the 3rd Punic War 146 BCE. Their long inclusion in Rome, as well as Rome's general easy-going attitude towards captured lands keeping their identity made Africa Proconsularis extremely peaceful for a long time. They maintained parts of their original culture while also being heavily Romanized. While they contributed heavily towards the feeding of Rome, only 1/4 of their grain was actually exported, but this trade also opened up all sorts of non-farming, better paying jobs as traders, etc. They benefitted immensely from Roman Rule and the Romans never leaned on them too hard to break them.
Finally, Numidia. I actually don't know a whole lot about what their economy was like -- but I know like Africa Proconsularis, they were conquered by Rome fairly early on and they were also heavily Romanized (if someone could add more about that area, that'd be great!)
So basically, yeah! North Africa did very well by the Romans and it was, for the most part, a symbiotic relationship.