There is no migration tool available, you would need to set up your post types, custom fields, and taxonomies within Toolset.
If you register a custom post type with the same slug as was being used for the post type in Pods then the existing posts will be recognised.
If registering a custom taxonomy then register it with the same slug, I expect that the terms will be recognised and assigned to the same posts as before.
The problematic part will be the custom fields. Like Pods or ACF, Toolset stores custom fields using the standard WordPress wp_postmeta table. The difference is that Toolset ordinarily adds a 'wpcf-' prefix to the custom field slugs to produce the meta_key's.
So a custom field in Pods with a slug of 'priority' would be stored in wp_postmeta with the meta_key of 'priority', but an equivalent Toolset custom field would be stored with a meta_key of 'wpcf-priority'.
So if creating the "same" custom fields in Toolset, the existing data in wp_postmeta will not be recognised.
One possible way around that is, when editing a Custom Field Group in Toolset, to use the Post Field Control button, whereby you can bring existing non-Toolset fields under Types control, although this only works for simple field types.
