This feature has been sorely needed. Lots of people nowadays are wanting to monetize their site in any way possible, and paid membership subscriptions are a somewhat standard practice in niche communities.
potential solution (beta) - This extension is in beta, but it is the most promising solution thus far.
https://www.phpbb.com/customise/db/exte ... extension/
This one is in the CBD, but it only supports one donor group. You could modify the donations extension to allow for more groups if you know how, then I guess there would be two solutions...