Michi,
Owing to my (mis)understanding of DXFs, I should have expected polylines at the rounded corners instead of curved paths. Were they original, or have you created them? If the latter, I believe you could have made them as part of a continuous path with no need to join afterwards.
And if still applicable, I would suggest a different approach, namely to create an angular version of the DXF artwork, or preferably the AI artwork which could be simple to create, with sharp corners throughout, and then use the Join Reasonably script suggested for each final path, and then round the relevant ones (with the same radius for consistency), starting with the Round Corners effect (which can later be Expanded).
In any case, before considering the Average way suggested, I believe it is worth testing in a few places (especially in connexion with rounded paths) whether the Anchor Points are actually apart or are coinciding, which I should expect in a DXF (at least for the straight paths. You can do that by simply Joining and then looking at the number of Anchor Points in the Document Info palette: 2 paths with 2 Anchor Points = 4 in total; with coinciding Anchor Points at the joint, it will become 1 path with 3 Anchor Points, otherwise 4 with 2 at the joint.
If there are non coincident Anchor Points at the joints, you may consider whether it really matters with the intended use.
It is worth noting that non coincident Anchor Points are the result of an inaccuracy, and that averaging merely replaces it with another inaccuracy which may be worse especially because the angles of (some of) the straight lines/segments will change, in contrast to the simple joining where the angles will be unchanged. If needed I believe it would be better to keep the most important Anchor Point in place (one on a straight path that is vertical or horizontal where a change could be more conspicuous).
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