Import CSV, converting repetitive fields to taxonomy terms
It's not clear whether you're looking for a front-end tool, or help with implementing this using the migration APIs. If the latter, in Drupal 8 you can use the migrate_source_csv source plugin with the entity_generate process plugin provided in migrate_plus. Your migration YAML file might look something like

id: food
label: 'Import food nodes'
source:
  plugin: csv
  path: directory/my_csv_file.csv
  header_row_count: 1
  keys:
    - NAME
process:
  type:
    plugin: default_value
    default_value: food
  title: NAME
  field_type:
    plugin: entity_generate
    source: TYPE
  field_color:
    plugin: entity_generate
    source: COLOR
destination:
  plugin: 'entity:node'


The entity_generate plugin will lookup the incoming value in the appropriate vocabulary, create it if it doesn't already exist, and return a reference to the (possibly new) term.