SharePoint migration with metadata assignment

Hello Community,

We have set up some standard document libraries with customized metadata columns (in Term Store) across a site collection.

Now we want to migrate our files from a legacy system with a folder tree structure to designated sites and their document libraries with applied metadata. Is there a tool to automate this migration process rather than manually uploading files from a folder to a document library on a site and manually assigning metadata?

Thanks so much!