You could look at installing csvtool or csvkit from your Linux Repository (assuming Linux here as you did not mention your OS). The former is a single program; the latter is a suite of utilities.
Both should be able to pull a single column from a CSV file (by column heading if you have one!) for you to manipulate without the confusion of quotes or even embedded linefeeds.
The quoting of fields cannot be handled by looking at the separator. All attempts with FS or -F fail.
But replacing a , with a | outside the quotes can be done with another awk