Try OpenCSV - it will make your life easier.

First, add this package to your gradle dependencies as follows

implementation 'com.opencsv:opencsv:4.6'

Then you can either do

import com.opencsv.CSVReader;
import java.io.IOException;
import java.io.FileReader;


...

try {
    CSVReader reader = new CSVReader(new FileReader("yourfile.csv"));
    String[] nextLine;
    while ((nextLine = reader.readNext()) != null) {
        // nextLine[] is an array of values from the line
        System.out.println(nextLine[0] + nextLine[1] + "etc...");
    }
} catch (IOException e) {

}

or

CSVReader reader = new CSVReader(new FileReader("yourfile.csv"));
List myEntries = reader.readAll();

Edit after comment

try {
    File csvfile = new File(Environment.getExternalStorageDirectory() + "/csvfile.csv");
    CSVReader reader = new CSVReader(new FileReader(csvfile.getAbsolutePath()));
    String[] nextLine;
    while ((nextLine = reader.readNext()) != null) {
        // nextLine[] is an array of values from the line
        System.out.println(nextLine[0] + nextLine[1] + "etc...");
    }
} catch (Exception e) {
    e.printStackTrace();
    Toast.makeText(this, "The specified file was not found", Toast.LENGTH_SHORT).show();
}

If you want to package the .csv file with the application and have it install on the internal storage when the app installs, create an assets folder in your project src/main folder (e.g., c:\myapp\app\src\main\assets\), and put the .csv file in there, then reference it like this in your activity:

String csvfileString = this.getApplicationInfo().dataDir + File.separatorChar + "csvfile.csv"
File csvfile = new File(csvfileString);

There are file explorer style apps that will open it. Or you could download Csv Viewer app from Play Store.

Blurb from it.

CSV File Viewer For Android | CSV Reader - view small and large-sized CSV files.

CSV Reader - Simple, fast, and powerful tool for reading csv files.

I am not associated with it.

You not always can create a working file from a content URI. But you likely don't need it. new CSVReader(fr); accepts a Reader as a parameter. You can use InputStreamReader, created from the InputStream, created from the Uri using following method:

InputStream  inputStream = getContentResolver().openInputStream(uri);

where uri is data.getData()

I have something like this;

public final List<String[]> readCsv(Context context) {
  List<String[]> questionList = new ArrayList<String[]>();
  AssetManager assetManager = context.getAssets();

  try {
    InputStream csvStream = assetManager.open(CSV_PATH);
    InputStreamReader csvStreamReader = new InputStreamReader(csvStream);
    CSVReader csvReader = new CSVReader(csvStreamReader);
    String[] line;

    // throw away the header
    csvReader.readNext();

    while ((line = csvReader.readNext()) != null) {
      questionList.add(line);
    }
  } catch (IOException e) {
    e.printStackTrace();
  }
  return questionList;
}