In 2004, Malian desert blues/rock group Tinariwen first came to the Bay Area with a show at the Great American Music Hall. Since then, they’ve returned almost every year for shows at Yoshi’s or the Palace of Fine Arts. When they appeared again last night at the Palace, many in the audience applauded upon the emcee’s mention of that first show — a testament to the fact that Tinariwen is the sort of band that earns lifetime fans from the first listen.