I ended up installing Inventor to check the manufacturer provided SAT files. Models are fine and do not have any gaps. So used Inventor to convert surfaces to solids using Stitch command (under Surface tab). Then I exported solids to DWG and opened them in AutoCAD. Hope that helps somebody someday.
P.S. Seems like errors mentioned in first post are caused by either AutoCAD release bug or by poor 3d command implementation (which is common for Autodesk nowadays).