frawk was the first awk to add proper CSV support, but the better-known awks have added it now as well, so its utility has become more limited.
Edit: Actually, for correctness' sake: goawk started earlier (2018, frawk 2019). I didn't trawl through the history to see which was at a usable and/or CSV-supporting stage earlier. Both did support CSV before that became trendy though.
I couldn't help the historian in me: looks like frawk gained CSV support in early 2020 with some bugfixes in July/August that year, while goawk gained it in May 2022, so my initial comment was correct.
Edit: Actually, for correctness' sake: goawk started earlier (2018, frawk 2019). I didn't trawl through the history to see which was at a usable and/or CSV-supporting stage earlier. Both did support CSV before that became trendy though.