Anyway to do a Bulk Member Import with subscription dates

I have about 6500 paid members which I would like to migrate into Membership v3.0 plugin. Is there a way to bulk upload a csv and then have subscription renew dates carry over? I can export my existing members data into any timestamp format as needed. I have looked through the forums and haven’t see anything like this, so I figured I would as before I developed an import script to do this.