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An easy way to generate a string of "thing1 thing2 thing3 ..." from an array using any separator you want is:

OLDIFS="$IFS"
IFS="|" # adjust to whatever you want
LIST="${ARR }"
IFS="${OLDIFS}"...

No way - there are no two-way communications between syntax constructions of shell and awk (like you want).
You can use a scalar variable with embeded newlines. Send its value to awk through -v...