GARBINI G., DURAND O., Introduzione alle lingue semitiche, Brescia, Paideia, 1994 (all the book, but not the chapter 2).
MION G., La lingua araba, Roma, Carocci, 2007 (only chapters 4, 5, 6).
For the pre-Islamic history, the book suggested is:
CONTU G., L'Arabia preislamica, Sassari, 2012 (pdf is free on the web).