In the newer versions of sqoop you have the --hive_drop-import-delims
or --hive-delims-replacement
command.
See https://sqoop.apache.org/docs/1.4.3/SqoopUserGuide.html
That will deal with the \r \n
and \001
in your string fields. For other replacements your workaround with the REPLACE function is the way to go