It is possible to build an arbitrary GET or POST request and send it to any server accessible to a victims browser. This includes devices on your local network, such as Printers and Routers.
There are many ways of building a CSRF exploit. A simple POST based CSRF attack can be sent using .submit() method. More complex attacks, such as cross-site file upload CSRF attacks will exploit CORS use of the xhr.withCredentals behavior.
CSRF does not violate the Same-Origin Policy For JavaScript because the SOP is concerned with JavaScript reading the server's response to a clients request. CSRF attacks don't care about the response, they care about a side-effect, or state change produced by the request, such as adding an administrative user or executing arbitrary code on the server.
Make sure your requests are protected using one of the methods described in the OWASP CSRF Prevention Cheat Sheet. For more information about CSRF consult the OWASP page on CSRF.