How can I convert a list of title-posts into a sequence of comma separated text?

I am working on a template for a custom post type (books) in which I am calling a list of authors that come from another custom post type (people). They are linked through the plugin Posts 2 Posts.

My Aim is to create a sequence of authors separated by comma, like this: Author1, Author2, Author3, Author4.

With the code below, the result is a sequence of authors like this : Author1Author2Author3Author4. The same code also works to get a list of elements by adding a li division below the_post();, with this results :

-Author1
-Author2
-Author3
-Author4

The piece of code :

if ($autores->have_posts()):

echo ‘<li>’;
echo ‘<b>Autores: </b>’;
while ( $autores->have_posts() ) : $autores->the_post();
echo ‘<a href=”‘;
echo the_permalink();
echo ‘”>’;
echo the_title();
echo ‘</a>’;
endwhile;
echo ‘</li>’;
endif;

Maybe this question can be answered in multiple forms. One is by converting this object into an array of elements (I don’t know how…yet?). At least, I found a very useful method which works with taxonomy elements (here: https://wordpress.stackexchange.com/a/238362), but this is not working in my case, maybe because I have one object, so when I make a count($autores) I always have 1 as result.
I also wonder if it is possible to use css to convert a list of elements into inline elements and separate them with commas.

I will really appreciate if someone here can give me an idea to resolve this question. Keep searching by my side…

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