AutoCAD has the ability to convert any Vector based PDF files into DWG (or DXF). Vector based PDF’s are usually PDF’s that have been published by a drawing package and contains lines circles and arc, as well as layer information.
Simply go to the “Insert” tab, then click on PDF, from there the wizard interface will guide you through settings and layer options, my advice is to try the default settings at first, as they generally work perfectly for me.
Here is an animated GIF showing the process.
This functionality is available in all versions of AutoCAD from the 2017 release forward. Remember that this drawing will most likely need to be scaled up or down to get it to the right size.