You can just use https://github.com/Nomarian/Awk-Batteries/blob/master/Units/... and use as so

    awk -f ./ucsv.awk -e '{print $5}'

Also this

> 4,"hello, \"world\"",6

Is incorrect per https://tools.ietf.org/html/rfc4180 so you should just fix it with a sed -i 's/\\"/""/g' and then just parse as normal.

https://github.com/Nomarian/Awk-Batteries/wiki/Formats