The issue has been filed as defect CRQ-31948.
Workaround:
1- Open the TML file in Notepad++
2- Identify the elements filterConfig id and <configName>. You will notice that the configuration name after | and the one included in the <configName> are identical. This is what causes the problem. Here is an example:
<filterConfig id="HTML (NT) Filter|Haiku_HTML" exported="true">
<configName>Haiku_HTML</configName>
3- To fix the issue, in the configName tag, simply modify the name so that it's no longer identical to the name in the filterConfig id attribute.
For example, change as follows:
<filterConfig id="HTML (NT) Filter|Haiku_HTML" exported="true">
<configName>Haiku_HTML1</configName>
4- Save your change.
With this change, the Legacy filter configuration (TML file) will be imported without error.