If you rewrite the sentence with one \autoref
and two \ref
statements, i.e., as
I will now reference \autoref{sec:foo}, \ref{sec:bar}, and \ref{sec:baz}
you will get
I will now reference section 1, 2, and 3
which isn't quite right as the word 'section' appears in singular form.
Instead, I suggest you load the cleveref package (after loading hyperref
) with the option nameinlink
and use \cref
, the package's main user-level macro. Importantly, \cref
can take multiple arguments. If the you write
I will now reference \cref{sec:foo,sec:bar,sec:baz}
you'll get
I will now reference sections 1 to 3
with the strings "sections 1" and "3" highlighted as hyperlink targets. (If you don't want the word "sections" to be included in the hyperlink target, don't set the nameinlink
option.) Note that \cref
has automatically performed compression of the range of items. If you don't want compression, write
I will now reference \cref{sec:foo,,sec:bar,sec:baz}
and you'll get
I will now reference sections 1, 2 and 3
with the strings "sections 1", "2", and "3" acting as hyperlink targets.
A full MWE (minimum working example):

(If you wanted to create a cross-reference of the form "1, 2 and 3" without the "sections" prefix, you could do so by writing \labelcref{sec:foo,,sec:bar,sec:baz}
.)
The effect of setting the nameinlink
option is to make the cross-references look like those produced by \autoref
.
\documentclass{article}
\usepackage[colorlinks]{hyperref}
\usepackage[nameinlink]{cleveref}
\begin{document}
\section{Foo} \label{sec:foo}
Some random text
\section{Bar} \label{sec:bar}
Some more random text
\section{Baz} \label{sec:baz}
More random text again
\bigskip
I will now reference \autoref{sec:foo}, \autoref{sec:bar}, and \autoref{sec:baz}
I will now reference \autoref{sec:foo}, \ref{sec:bar}, and \ref{sec:baz}
I will now reference \cref{sec:foo,,sec:bar,sec:baz}
I will now reference \cref{sec:foo,sec:bar,sec:baz}
\end{document}