you could export all components as individual STL.
Onshape for example allows that, and since all STL-s will have the same origins you wouldn't need to set is position in openscad. Only you would need to color them individually.
This is how I make it:
Import STEP into Onshape
Export all parts as individual STL-s
Import all STL-s in openscad and set the colors, all files are packed into a module so I can move them around as one part.