We propose ethnographic assemblages of herding in communities of the Isluga altiplano (Chile, 4000 m.a.s.l.) and livestock practices in agricultural communities of the Precordillera nearby (2500–3000 m.a.s.l.), connecting with archaeological evidence of human-camelid interactions in the Atacama Desert. We consider that Andean plateau and ravine landscapes comprise shared and distinctive socio-historical trajectories since very early pre-Hispanic times (4000 years BP), according to agro pastoralist strategies in specific settings, whose relational modes have been linking joint becomings that defy the narratives of change embedded in modern Western frameworks. Life cycles, activities, and ceremonies associated with each landscape are described, as well as their interweaving in complementary calendars. It relates forms of mutual husbandry (uywaña) in animated territories that have been shaping social experience based on sociability ethics or customs (sarawi), where ritual fosters exchanges that are beneficial to all multiple beings and renews pacts of reciprocity with the tutelary deities. In this context, the processes of pastoralism that occurred in the Tarapacá region are woven according to local developments and involve a regional perspective as a result of dynamic links between the coast, the pampas, the ravines, and the highlands. Our approach strains notions of domestication as human domination over the environment to incorporate Andean ontologies and epistemes about diverse and constantly reconfiguring Andean worlds.