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Sorry, no etymologies found.
It's very possible that it's from a Semitic root though of course words came into proto-Arabic after it separated from common Semitic, but whatever cognates it had have presumably vanished.
Nabataean, Lihyanian, or Tamudic, Minean and so-called proto-Arabic inscriptions.
The generic term Himyarite designates the proto-Arabic monumental inscriptions which have been discovered, especially in the past half-century, in the south of the Arabian peninsula.