I think "panty raids" are a shitty prank because it's literally a form of burglary, but to call it "sexual harassment" is a bit of a stretch. It would be one thing if you encounter a woman only wearing panties, but taking their panties out of their dressers or closets is no different than touching some girls panties after doing a load of laundry.
Learning that a fucking Spongebob episode was taken off of circulation just because it featured a panty raid was the shittiest thing I have ever heard.
And for those who wonder why boys are into such things, it's very simple: boys, especially in their adolescence are curious about girls. They use separate bathrooms and sleep in separate bedrooms (for the most part), and experience completely different forms of puberty, so these raids are an excuse to get a glimpse of what these generally girls-only spaces are like.
Again, it's something I would never condone, and it's something I have never done myself, but I think it's rather tame compared to something like sneaking into a girls locker-room while girls are taking a shower.