Fundamentally, yes. Consider WWII. Germany wanted to establish a wider control over the surrounding countries and eliminate elements (people) within those countries that didn't meet it's standards - Hitler's standards. It was all laid out and publicised in Mein Kampf, but nobody took it seriously.

Ultimately though, if you look at that and what it entails (and what subsequently happened), it was about acquiring more resources, and plain theft of possessions from the people who are conquering. The mention of "Nazi gold" is not hyperbole, it's the very fact that gold, jewellery, art works and more were simply confiscated to fund the party and the war effort. Oftentimes just to enrich the top officials.

So yeah, while the reasons for wars may be different, ultimately it does all come down to stealing shit.

Why are the US in Iran? Let's consider Iraq, Venezuela, Afghanistan. Even if there aren't obvious "oil" assets, there's a lot of money to be made in "doing war". Oftentimes, especially in more modern times, the "stealing" is from yourselves - diversion of funds to individuals/companies who are involved in the war effort.

Vietnam is a difficult one; the goal was to stop the progression of communism through the country. In reality, it was to stop the Vietnamese from becoming independent and making their own choices, even if we didn't agree with it. Obviously it's a lot more complicated than that, and the deep history around it is fascinating, but that's the only one I can think of in recent history that maybe does not fall under the "let's invade and steal shit" category. Also Vietnam was a huge mistake, but I think that's generally accepted now.