For now the only way I found for customers to see each other requests is to manually invite them on requests.
I can't imagine that this is the only solution (also the portal requests filter "Created by anyone" suggest it isn't, or it would be exactly the same as "Where I am participant").
So is there a way (maybe by configuring permission ?) to allow customers to see each others requests without the need to manually add them as participant ?
You cannot do this in JIRA Service desk now. You can make JIRA open and make it available to anyone who visit JIRA but that defeats the purpose of Service Desk. There is an open feature request to make JSD tickets available to all customers (or based on domain).
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