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Sticking with your awk ... just make sure you understand the difference between a field and a record separator :}
echo "a,b,c,d,e,f" | awk 'BEGIN{RS=","}{print $1=$1}'1'
But the tr solution in the comments is preferable.
echo "a,b,c,d,e,f" | awk 'BEGIN{RS=","}{print }'
echo "a,b,c,d,e,f" | awk 'BEGIN{RS=","}{$1=$1}1'
echo "a,b,c,d,e,f" | awk 'BEGIN{RS=","}{print $i}'