Honestly, the constant pattern of raids and counter-raids is endemic to most pre-modern polities, and Rome managed diplomatic relations pretty well with 'barbarian' polities all the way up to the 5th century AD, near the end of the Western Empire (ie Rome as most people would understand it).

What made Rome exceptional was that it had a standing force of professionals who were ready to do it at any time, which was a fearful thing. Neither winter nor harvest can buy you time to flee or prepare from an army already assembled, supplied, and ready to do violence at any point.