Recommended library to handle home-grown format

Do you have any recommendations for a library to handle the proposed format? I can tweak Pandas to accept it, but now struggling to read and parse in one go, because I am not allowed to put a CSV header as per RFC 4180 sect. 2.

I am reluctant to follow a format for which I have to take extra steps to make things work. I do suggest to provide appropriate tooling or accept RFC4180. Admittedly, even Pandas does not claim to be RFC4180 compliant, as they do not even mention it. However, they support the headers and this would make my life easier.