To repost a lightly edited earlier answer I wrote:

Agricultural settlements have existed for millennia in parts of Central Asia, most notably around the Amu Darya, Syr Darya and Zarafshan Rivers, and in the Ferghana Valley. Agricultural settlements seem to have existed in Turkmenistan as far back as 6000 BCE, and agricultural products (wheat, barley and millet) seem to have spread north past Central Asia and into Siberia by the late first millennium BCE.

Agricultural towns developed into fairly large urban settlements, to the point that cities like Khiva, Bukhara, Samarkhand, Tashkent, and Taraz (Talas) have played major roles in history as cultural and economic centers, as well as the capitals of major states.

Even in terms of the nomadic populations of Central Asia (what we would now consider the ancestors of the Kazakhs, Kyrgyz and Turkmen, although the historiography of ethnogenesis is a whole separate conversation), "nomadic" is a little bit of a misnomer. That seems to imply people on horses just....wandering around, which is absolutely not how these populations lived before Soviet collectivization.

A better term used by anthropologists and archaeologists is "agropastoralism". These populations were largely pastoral, ie, they maintained herds of livestock. Traditionally, they would move their herds based on the season from one designated pasture to another (you pretty much have to move livestock herds between pastures anyway, because the grass needs time to recover). These pastures were more or less owned by groups of extended relations (aul in Kazakh, which roughly translates to a village), and each such group had its designated pasture land (usually you would move up from lowlands, where you would winter, into uplands, reaching your highest point in the summer, at which point you move back down again). These communities would also engage in, for lack of a better term, agriculture on the side, sowing crops (mostly wheat and millet) to supplement their food supplies and to provide winter fodder for their herds.

Winter quarters were, as mentioned, usually in low-lying areas, ideally along rivers. Winter quarters, depending on the time period, also tended to be somewhat more permanent than the yurts used when moving from pasture to pasture in the spring-fall. Remember that given the continental climate, in places like Kazakhstan "winter" really meant November through March, which is a significant period of time.

Anyway, this system persisted even under Russian conquest in the 18th-19th centuries, and was only really ended starting in 1929 with Soviet collectivization (which also affected the already fully-agricultural parts of Soviet Central Asia as well).

Sources:

Robert N. Spengler, Natalia Ryabogina, Pavel Tarasov, and Mayke Wagner 2016. "The spread of agriculture into northern Central Asia: Timing, pathways, and environmental feedbacks." The Holocene.

David R. Harris. Origins of Agriculture in Western Central Asia An Environmental-Archaeological Study

Svat Soucek. A History of Inner Asia

Mukhamet Shayakhmetov. The Silent Steppe: Memoir of a Kazakh Nomad Under Stalin.