KiCad can import DXF, but in what I’d call a modest-minimal manner.
You can, for example, import PAD outlines, and visually confirm your final footprint is valid.
Currently suggested as enhancements, are Snap of Footprint to Entity origin (eg circle centre) or Entity centre (rect centre) or entity End (outlines), to help DXF footprint pathways.
You can query any line, and manually copy X then Y then R as a workaround now, which means create of a DXF with outlines, and centres, would be useful for non-grid based parts.
(Also suggested is copy X,Y,R to clipboard and paste from clipboard)
Having 2 sessions active during this clone process can help.
However, there is some work being done on smarter DXF to Footprint conversions, like this thread -
I think that targets RF, but it could be extended to general footprint create ?
If you are skilled at DXF create, maybe you could help there ? Done any Python ? 
Some suggestions for DXF to Footprint smarts could include
- Block name to Pin Name, outer block to footprint name
(no names, use sequence order, defaults) - Layer name aware
- Circle sense, for DXF.Circle → Pad.Circle
- Concentric circle sense, for DXF.Circles → Pad,Drill or Pad.Smd
- Rectangle sense for DXF.Rect → Pad.Rect
- Oval sense for DXF.Oval → Pad.Oval
- Rounded Rect sense for DXF.RoundRect → Pad.RoundRect
- R/O/RR sense of enclosed circle/oval for (offset) hole/slot generate