...
 my @Names      = qw'A B C';
 my @FullRecord = qw'A_1 D_4 C_3 F_6 B_2';

 # prepare temporary dictionary
 my %h; @h{@Names} = (); 

 my @DesiredRecord =
     grep exists $h{ [/^([^_]+)/]->[0] },
        @FullRecord;
    
 print "@DesiredRecord\n";
 ...