I've been feeding raw about 8 years now and love it.
No, I would absolutely *not* cook it if it has bone in it as it will make any bone present very brittle and fragile. Uncooked bone is softer and can bend/flex. However, if the bone is truly "ground bone", then you'd probably be okay to cook it. If I were you, I'd just try giving it without cooking as I like raw for dogs/canines.
To keep it balanced, you could buy one of the raw dry mixes and add the raw to it -- then it'll be properly balanced. See this website, where they also have mixes if you prefer cooking:
https://www.knowbetterpetfood.com/dog_food_products