Is there a way to shorten this code?
Yes, but there are tradeoffs. Reducing the number of Serial.print() statements means printing more stuff in each call, which means that the stuff to print must be converted to strings and stored before printing.
Look at sprintf() if you want to go that route.
Keep in mind that sending the data as one string will not make the serial data get there any faster. So, the tradeoff is increased memory utilization all the time to reduce the number of lines of code that you type one time.