Desire

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Middle English: from Old French desir (noun), desirer (verb), from Latin desiderare (see desiderate).

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From Middle English desire(noun) and desiren(verb), from Old French desirer, desirrer, from Latin dēsīderō(“to long for, desire, feel the want of, miss, regret”), apparently from de- + sidus (in the phrase de sidere, "from the stars") in connection with astrological hopes. Compare consider. Compare also desiderate.

etymonline

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desire (v.)

"to wish or long for, express a wish to obtain," c. 1200, desiren, from Old French desirrer (12c.) "wish, desire, long for," from Latin desiderare "long for, wish for; demand, expect," the original sense perhaps being "await what the stars will bring," from the phrase de sidere "from the stars," from sidus (genitive sideris) "heavenly body, star, constellation" (but see consider). Related: Desired; desiring.

desire (n.)

c. 1300, "a craving or yearning; an emotion directed toward attainment or possession of an object; sensual appetite, physical desire, lust," from Old French desir, from desirer (see desire (v.)). Meaning "that which is longed for" is from mid-14c.