If all columns you want to pass to UDF have the same data type you can use array as input parameter, for example:
>>> from pyspark.sql.types import IntegerType
>>> from pyspark.sql.functions import udf, array
>>> sum_cols = udf(lambda arr: sum(arr), IntegerType())
>>> spark.createDataFrame([(101, 1, 16)], ['ID', 'A', 'B'])
... .withColumn('Result', sum_cols(array('A', 'B'))).show()
+---+---+---+------+
| ID| A| B|Result|
+---+---+---+------+
|101| 1| 16| 17|
+---+---+---+------+
>>> spark.createDataFrame([(101, 1, 16, 8)], ['ID', 'A', 'B', 'C'])
... .withColumn('Result', sum_cols(array('A', 'B', 'C'))).show()
+---+---+---+---+------+
| ID| A| B| C|Result|
+---+---+---+---+------+
|101| 1| 16| 8| 25|
+---+---+---+---+------+
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