Instead of 
- paste(default spaces),
- paste0(force the inclusion of missing- NAas character) or
- unite(constrained to 2 columns and 1 separator),
I'd suggest an alternative as flexible as paste0 but more careful with NA: stringr::str_c
library(tidyverse)
# check the missing value!!
df <- tibble(
  n = c(2, 2, 8),
  s = c("aa", "aa", NA_character_),
  b = c(TRUE, FALSE, TRUE)
)
df %>% 
  mutate(
    paste = paste(n,"-",s,".",b),
    paste0 = paste0(n,"-",s,".",b),
    str_c = str_c(n,"-",s,".",b)
  ) %>% 
  # convert missing value to ""
  mutate(
    s_2=str_replace_na(s,replacement = "")
  ) %>% 
  mutate(
    str_c_2 = str_c(n,"-",s_2,".",b)
  )
#> # A tibble: 3 x 8
#>       n s     b     paste          paste0     str_c      s_2   str_c_2   
#>   <dbl> <chr> <lgl> <chr>          <chr>      <chr>      <chr> <chr>     
#> 1     2 aa    TRUE  2 - aa . TRUE  2-aa.TRUE  2-aa.TRUE  "aa"  2-aa.TRUE 
#> 2     2 aa    FALSE 2 - aa . FALSE 2-aa.FALSE 2-aa.FALSE "aa"  2-aa.FALSE
#> 3     8 <NA>  TRUE  8 - NA . TRUE  8-NA.TRUE  <NA>       ""    8-.TRUE
Created on 2020-04-10 by the reprex package (v0.3.0)
extra note from str_c documentation
Like most other R functions, missing values are "infectious": whenever a missing value is combined with another string the result will always be missing. Use str_replace_na() to convert NA to "NA"