Using Raku (formerly known as Perl_6)

~$ raku -MText::CSV -e 'csv(in => csv(in => $*IN), out => $*OUT, sep => "~");' < Adhya.csv 

Sample Input:

123,"ABC, DEV 23",345,534.202,NAME 

Sample Output:

123~"ABC, DEV 23"~345~534.202~NAME 

This answer uses the Raku Programming Language. The Perl(5) module Text::CSV is well-regarded, and a longtime author/maintainer of that module has gone on to develop Raku's Text::CSV module.

Briefly, the high-level csv(...) command is used to take csv input via $*IN (stdin). Alternative separators can be specified here with sep => "\t" or similar.

Then, the output is send via $*OUT (stdout), changing the separator to ~ tilde with the parameter sep => "~".

https://github.com/Tux/CSV/blob/master/doc/Text-CSV.md
https://raku.org

Using Raku (formerly known as Perl_6)

~$ raku -MText::CSV -e 'csv(in => csv(in => $*IN), out => $*OUT, sep => "~");' < Adhya.csv 

Sample Input:

123,"ABC, DEV 23",345,534.202,NAME 

Sample Output:

123~"ABC, DEV 23"~345~534.202~NAME 

This answer uses the Raku Programming Language. The Perl(5) module Text::CSV_XS is well-regarded, and a longtime author/maintainer of that module has gone on to develop Raku's Text::CSV module (H. Merijn Brand, personal communication).

Briefly, the high-level csv(...) command is used to take csv input via $*IN (stdin). Alternative separators can be specified here with sep => "\t" or similar.

Then, the output is send via $*OUT (stdout), changing the separator to ~ tilde with the parameter sep => "~".

https://github.com/Tux/CSV/blob/master/doc/Text-CSV.md
https://raku.org