F-strings are much faster:

    In [4]: a, b, c, d = ("123", "456", "789", "0ab")

    In [5]: %timeit a + "-" + b
    139 ns ± 10 ns per loop (mean ± std. dev. of 7 runs, 10000000 loops each)

    In [6]: %timeit "%s-%s" % (a, b)
    198 ns ± 13.8 ns per loop (mean ± std. dev. of 7 runs, 10000000 loops each)

    In [7]: %timeit "{}-{}".format(a, b)
    248 ns ± 9.17 ns per loop (mean ± std. dev. of 7 runs, 1000000 loops each)

    In [8]: %timeit f"{a}-{b}"
    99 ns ± 2.48 ns per loop (mean ± std. dev. of 7 runs, 10000000 loops each)

    In [9]: %timeit  a + "-" + b + "-" + c + "-" + d
    344 ns ± 10.3 ns per loop (mean ± std. dev. of 7 runs, 1000000 loops each)

    In [11]: %timeit "%s-%s-%s-%s" % (a, b, c, d)
    290 ns ± 9.64 ns per loop (mean ± std. dev. of 7 runs, 1000000 loops each)

    In [12]: %timeit ''.join([a, '-', b, '-', c, '-', d])
    245 ns ± 2.32 ns per loop (mean ± std. dev. of 7 runs, 1000000 loops each)

    In [13]: %timeit "{0}-{1}-{2}-{3}".format(a, b, c, d)
    471 ns ± 23.6 ns per loop (mean ± std. dev. of 7 runs, 1000000 loops each)

    In [14]: %timeit f"{a}-{b}-{c}-{d}"
    176 ns ± 11.9 ns per loop (mean ± std. dev. of 7 runs, 10000000 loops each)