yes, because a good or bad action is not only based on perceptible effect. Intention and effect (no matter if nobody saw) makes an action bad.
About a good action with bad intetions: while the effect may be possitive, the person was not being good at heart.
Good intentions and bad actions: Harming others is harming others no matter how noble are the intentions, so the effect will still be negative.
Some people say humans are inherently good and others say human are inherently evil. I think they are inherently neutral. Babies act based on self-preservation instincts and as they learn about the world they become able to make choices. Education and their experiences affect them a lot, either, from repeating the patterns of their parents/guardians or by going the opposite route or accepting some aspects while rejecting others.
I think altruism is an instinctual mecanism of survival because it allows beings to work with each other and to support each other. You can see instinctual altruism in some animals, like a mother dog taking care of their pups. Some animals lack this instinct, for example, komodo dragons eat their children. Human instincts are more similar to mammals.
I think being good is as natural as being a dick.
While it is possible that our memories could be manipulated to think we had more experiences than we already had, i think that if we were created by a deity, it would be too overly-complicated and absurd to make that. If we were created by random events i think the chances the world turned that way (created last thursday) are lower than the chances of those experiences actually happening.