Everything points to the fact the export or conversion of Collada 3D files (.dae) to STEP CAD files is certainly doable with AutoCAD and perhaps also other similar tools that support Collada 3D formats. The very same dae to stp conversion can also be done with various 3D modeling or CAD converters, some might even work online directly from your web browser.
Open DAE file Open STP fileA converter for 3D formats
An open source multiplatform 3D CAD/MCAD/CAx/CAE/PLM modeler