KiCad is quite different from a regular mechanical CAD program.
A very significant difference is that when designing a footprint, you have to add and define pads in KiCad, so KiCad knows where to attach the nets (and therefore copper tracks) to. Mechanical CAD programs have no knowledge of such pads.
Another difference is that KiCad likes to know the center point of pads, while in Mechanical CAD programs it’s much more common to define the edges of items.
That said, Designing a custom footprint in KiCad’s Footprint Editor is a quite straightforward task. Your footprints are quite simple with a few rows of pads. KiCad can simply draw an array of pads, and you can set the size of the defaults in advance.
I’ve also verified that you can import DXF graphics in the footprint editor, but it is of course just graphics. But it’s probably still useful to do so as a sanity check.
You can also make use of this knowledge.
for example, instead of making a full DXF drawing, you can make a simple sketch with a few reference positions for some of the pad centers into your DXF file, then “Ungroup” the DXF file in the footprint editor and then you can snap to the individual graphic items and place some arrays of pads from there.
KiCad’s drawing capabilities are quite limited, but they are also simple and easy to learn.
You may have to adjust a bit to the things that work in KiCad. For example, I have not managed to place a pad directly onto a snap point of a graphical item, but you can first place the pad at a random location, and then snap it to such an endpoint with a move operation.
You only need just a few reference points. A whole row of pads can easily be made with the array function. KiCad also has some nice extra features such as “Move Exactly” from the popup menu. If your array has a somewhat irregular spacing, you can first draw a simple row, then select a part of the pads and use Special Tools / Move Exactly (Or Move with Reference, etc) to further modify.
It really is quite adequate for simple footprints like this. It may take some time to get to grips with a method that works, but after you’ve figured that out it’s quite quick.