Array formula with concantenate not working

I have a Google Sheet where I am wanting to use an array formula so it auto copies down the column rather than the current formula which needs to be copied down manually.

=(IF($E2="Yes", $D2, CONCATENATE(IF(ISBLANK($A2),"", CONCATENATE($A2, " - ")), IF(ISBLANK($B2),"",CONCATENATE($B2, " - ")),IF(ISBLANK($C2),"",CONCATENATE($C2,". ")),$D2)))

I tried changing this to an array formula but the concatenation does not work. I have read other posts where the solution is to use the & function but I think I am doing it wrong.

The following is the array formula which does not work as it is saying the result is over 50,000 characters.

=ArrayFormula((IF($E2:$E="Yes", $D2:$D, CONCATENATE(IF(ISBLANK($A2:$A),"", CONCATENATE($A2:$A, " - ")), IF(ISBLANK($B2:$B),"",CONCATENATE($B2:$B, " - ")),IF(ISBLANK($C2:$C),"",CONCATENATE($C2:$C,". ")),$D2:$D))))