Awk print string with variables

printf allows interpolation of variables. With this as the test file:

$ cat file
a,b,APPLE,d,MANGO,f

We can use printf to achieve the output you want as follows:

$ awk -F, '{printf "/p/%s_abc/xyz/%s_abc_def/\n",$3,$5;}' file
/p/APPLE_abc/xyz/MANGO_abc_def/

In printf, the string %s means insert-a-variable-here-as-a-string. We have two occurrences of %s, one for $3 and one for $5.