Raptor is non-functional without tilting. That is, it's possible to build rocket where all Raptors are fixed, but that defeats some ideas of Raptors. And I haven't seen tilt mechanisms considered parts of the rocket.
So, while engines without tilting have been used - e.g. NK-15 - Raptors aren't from that category.
Raptor is used in a non-tilting configuration on both the booster and ship. You could certainly design a rocket to get to space with only non-tilting raptors, if you wanted. It would be silly to consider it incomplete without tilt, even if Starship does have some tilting ones too. Consider it two variants if you like, both complete on their own.
Differential thrust has been used to steer rockets for decades, and raptor has the sort of deep throttling capability required for it. Tilting is absolutely not required for anything but landing.
Yeah - you would still need roll-control, but given there are huge potato smashers already bolted on, it should not be an issue while in enough atmosphere. ;-)
So, while engines without tilting have been used - e.g. NK-15 - Raptors aren't from that category.