This topic is really complex and you have confused some things.
WAV and mp4 are container formats, they can contain compressed or uncompressed data, while WMV is a series of codecs and formats. TXT is not a something like a RAW format - far from it. A txt file is stored as binary data. So if I programmatically open a Streamreader I will get a byte array and can interpret this as text but I have to apply the correct character encoding (like ASCII or UTF8). When you see text it has already been processed. It cannot be considered RAW by definition.
RAW data can contain lossless compressed or uncompressed data but not all uncompressed formats contain RAW data. (I simplify here, because there is also mathametically and visually lossless compression).
What is RAW?
I consider a file to be raw if it contains all necessary unchanged, original data to represent some entity. In order to store it, a format needs to be defined. This format sometimes contains additional data. Example: Canon's CR2 RAW format also stores a JPG preview inside. The RAW file can store its information in a compressed way, however this is always at least visually lossless, the only exception being additionaly data like a preview JPG which is stored lossy.
How to use RAW (super simplified)
The RAW format is never intended for consuming. It is a format to work on the data.
You develop or interpret a RAW. That's the step when you apply some logic to generate a viewable output. E.g. you see text. Or your screen shows an image or video. The high amount of information that a RAW provides, enables enough headroom for you to work much better. When done, you export it in another, consumable file format. This is when you generate for example a JPG from a photo RAW or a WMV from a video RAW.
With video you use codecs at this steps, specifically interframe codecs or distribution codecs, because all work is done now. Afterwards or at the same time, you often put them in widely recognised containers that help to bundle video and multiple audio tracks, like mp4 or mkv.
Both in photography and videography you use a camera and it needs to read out its sensor in order to record something. The sensor is of course manufacturer-specific. It's only natural, that every camera works a bit different, has different needs and offers different features. Think of how the Bayer filter needs to be interpreted. Consequently manufacturers have their own RAW format. Last but not least, the camera manufacturers would lose their IP if they shared all those secrets. All those reasons stand against a common RAW format.
Yet you can convert a RAW to a common, open format with some drawbacks. For photography that is DNG and for videos it's CinemaDNG. Sometimes this conversion is built into the camera.
Specifying a common format is hard work as you need to account for everyone's needs. Adobe tried to establish the DNG format as a generic format in the photography sector, but they didn't take every need into account. Many years later it still is only used by few manufacturers. DNG can also be regarded as a derrived format. But your first step is still to use a propriety RAW format, then convert it to DNG. Probably those cameras which output DNG still use their own RAW formats internally.
But Adobe's other open format initiative, called CinemaDNG, seems to be accepted more widely. It's a container that can store video as a series of images each encoded as DNG. However if you look at Blackmagic, not every manufacturer is happy with it. According to Blackmagic their own RAW format performs much better and they regard CinemaDNG as obsolete.
You will be able to get proprietary RAW formats from many modern cameras. Arri and Sony offer uncompressed RAW, while RED and Blackmagic give you compressed RAW.
An alternative during post-production is video encoded with an intraframe codec. Something like ProRes. It still delivers very high quality.
A note on audio
You record audio in an umcompressed format. Professionally you often record on a separate device and later sync that in post mostly automatically. That's why you need a clapperboard/timecode. There's also music, ADR, SFX that will be added later, not when shooting of course. That will all come together at some point of editing. Before video and audio will be exported for distribution, there is a mixdown/mastering performed with the audio (with the goal to reduce or mix down many tracks to simple stereo or surround sound).
In essence, video and audio is kept seperately at the beginning, kept in sync but still separated during editing and bundled together during final export for distribution. Each workflow might vary a bit. That and for technical reasons is why all video RAW only record video, I think. Only CinemaDNG can include audio.
To sum up
There is no standard video RAW format. The closest thing to that is CinemaDNG which is actually a bit different than a true RAW format, and it comes with some drawbacks.
Keep in mind that RAW video is a topic for producing films for cinema or streaming platforms. It's a bit over the top for Youtube videos, hobbyist projects and the like.