First of all, welcome to the forum and I hope we can be of help to you.
To input WGS84 coordinates into AutoCAD you need Civil 3D, vanilla AutoCAD can not do it. Civil 3D can also do transformations WGS84 <-> coordinate frame.
If you are wanting to import Luzon or PRS92 coordinates you can use any of the various methods of importing coordinates from an ascii file.
I'm not sure what data ESRI can export, but if it can export DXF or DWG you can insert them into your drawing.