Please see Building Regex Alternations Dynamically.

use warnings;
use strict;
use Text::CSV;

my %terms;

my $csv = Text::CSV->new({ binary=>1, auto_diag=>2, sep_char=>"|" });
my $fh = *DATA; # normally you'd open() a file here
while ( my $row = $csv->getline($fh) ) {
    my $id = shift @$row;
    @terms{@$row} = ($id) x @$row;
}
$csv->eof or $csv->error_diag;

my ($regex) = map {qr/$_/} join '|', map {quotemeta}
    sort { length $b <=> length $a or $a cmp $b } keys %terms;

my $input = q{2020 Ford F 250 is great but I prefer Tesla Model-V};

(my $output = $input) =~ s/($regex)/<$terms{$1}><$1>/g;

use Test::More tests=>1;
is $output,
    q{<2><2020 Ford F 250> is great but I prefer <1><Tesla Model-V>};

__DATA__
1|Tesla S|Tesla model V|Tesla model|Tesla|Tesla Model-V
2|Ford RAM truck|2020 Ford Mustand|Ford ranger|Ranger|ford|2020 Ford F
+-250|2020 Ford F 250|Ford F 250
3|GM Chevrolet|GM Chevy|GM Chevrolet 2020|Chevrolet|Chevy|Chevrolet 20
+20|GM Chevrolet volt|Chevrolet Captiva Sport|General motors|GM
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