A simple way (if you don't have many columns) would be to use a literal array and filter the empty cells with the query. Something like that
=join(", ", query({C3:C; D3:D; E3:E; F3:F}, "where Col1 <>''"))
Also see cell A1 in the general table.
UPDATED: An alternative (and shorter) way would be to use textjoin ()
=textjoin(", ", 1, C2:F)
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