Realistically, no.
echo $a.$b first concatenates $a and $b into a new string, then passes it as a parameter to echo, which prints it out.
echo $a,$b gives two parameters to echo, which will print both out.
The latter is slightly more efficient. Not in any way that you would normally notice though.
There is a difference in how it is evaluated. echo $a, $b is like writing echo $a; echo $b;, two separate calls. $b will be evaluated after $a is echo'd. This can make a difference if your arguments are function calls which themselves echo something, but again, in practice this should be irrelevant, since it's bad practice.