I would like some sort of threat from wildlife without having to deal with bandits or an army attacking. Perhaps a semi-pacifist mode?
You can achieve this using custom settings.
Welcome to the forum. 
As azz said you can turn off raiders in the Custom Settings
Do note that using Custom Settings disables getting achievements for the game.
Can we disable raid camps?
You can disable raiders which means there’d be no camps either. But not a separate control for just camps.
Yep, thanks.