I agree with dan. While heavy rainfall or irrigation can contribute to soil compaction, it's impact is generally very slight. Typically, it is more often the result of weight or pressure on the soil, like from foot traffic, mowers, wheelbarrows, etc. And poor drainage. By definition, raised beds typically have improved drainage from inground plantings and raised bed soil mixes tend to be heavily aerated anyway.

i think i might suggest that your soil settled.. before i would call it compacted ...perhaps when you put it in.. you should have done it somewhat.. so the soil level wouldnt have fallen .. thats what i usually do ... especially with filling pots with new media ....

now.. if you pull a back loader or a ford truck in there ... well.. take pix.. but that will be when the soil is compacted.. lol ...

bottom line.. if nature did it.. dont worry about it ...

ken

https://duckduckgo.com/?t=ffcm&q=back+loader&iax=images&ia=images

hopefully you make your own compost. as you add more organic matter each season, drainage increases and compaction decreases.

thanks everyone! I think I was just overly worried bc it’s my first time with the raised beds. The ground is definitely not compacted as I can easily stick my hand in and work the soil that doesn't have anything planted in it yet

That's an important point that is often neglected. Be aware that your soil structure will not stay great all by itself. Organic matter, which is what fluffs up soil and mitigates compaction, goes away. Yep, it just degrades, and floats away as CO2. That means that for any garden bed, addition of organic material is not a one-time thing. It has to be done continually. Dig in compost every year. Don't forget.