True, but so much of shame, and pain too, is related to a person's expectation. In Arizona in the 1880s, you knew that if they caught you and brought you back alive after you robbed the stagecoach and killed the driver, they were going to hang you publicly. You'd probably have seen people hanged before and you understood the risk. It would all be over in a few minutes.
In the first century AD, if you were not a Roman citizen and you robbed and killed people on the Appian Way, if they caught you they were going to crucify you, with all that entailed. You'd seen people crucified before, and you knew what that meant. You understood the risk, that if you were caught, it meant agonizing torture and humiliation that would go on for days, that they would dehumanize you and take away all dignity, modesty, self-control, everything, and somehow you balanced that with the rewards of your crime in your mind.
Today in the US, you'd probably do your time, get "rehabilitated" and stick to cooking meth when you got out.