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However, if I hit edit on an existing contact, I can't find the Role field anymore. Anyway, I figured we can hit Update Primary to change the roles. But if I want to do a csv import, I can't find this field so I can make necessary changes to existing contacts. Does anyone know whats the solution for that?

Check SuiteAnswers Answer ID: 33850. Gives you instructions for how to update Contact Role Through CSV import.

The "Role" field, i believe is only for when you add a new contact from a customer record. I don't see it on my custom form as being hidden, but I do see it when I add a new contact from a customer. I don't see it when I add a contact on their own (not from a customer record)

It may be that the form is changed, or that a new form was created. Old records may have been set to keep the older form (see: Store Form with Record), and newly created records may use the new form. If so, try changing the form and you may see the missing field.