is there any way to get all primary key and foreign key with below strucure of Database

Try the below:

SELECT 
                        DISTINCT TABLENAME,CONSTRAINT_NAME,CONSTRAINT_TYPE, 
                        COLUMNNAMES=  REPLACE(  
                        (  
                        SELECT A.PRIMARYKEYCOLUMN AS [data()] 
                        FROM (SELECT A.TABLE_NAME TABLENAME, A.CONSTRAINT_NAME, B.COLUMN_NAME PRIMARYKEYCOLUMN,
                           CONSTRAINT_TYPE, C.ORDINAL_POSITION
                        FROM INFORMATION_SCHEMA.TABLE_CONSTRAINTS A
                        JOIN INFORMATION_SCHEMA.CONSTRAINT_COLUMN_USAGE B ON A.CONSTRAINT_NAME = B.CONSTRAINT_NAME
                        INNER JOIN INFORMATION_SCHEMA.KEY_COLUMN_USAGE AS C ON A.CONSTRAINT_NAME = C.CONSTRAINT_NAME
                        ) A 
                        WHERE A.TABLENAME = B.TABLENAME 
                        AND A.CONSTRAINT_NAME = B.CONSTRAINT_NAME
                        AND A.CONSTRAINT_TYPE = B.CONSTRAINT_TYPE
                        ORDER BY A.TABLENAME, A.ORDINAL_POSITION
                        FOR XML PATH ('') ), ' ', ',')  
FROM (
SELECT 
   A.TABLE_NAME TABLENAME, A.CONSTRAINT_NAME, B.COLUMN_NAME,CONSTRAINT_TYPE,C.ORDINAL_POSITION
FROM INFORMATION_SCHEMA.TABLE_CONSTRAINTS A
JOIN INFORMATION_SCHEMA.CONSTRAINT_COLUMN_USAGE B ON A.CONSTRAINT_NAME = B.CONSTRAINT_NAME
INNER JOIN INFORMATION_SCHEMA.KEY_COLUMN_USAGE AS C ON A.CONSTRAINT_NAME = C.CONSTRAINT_NAME
) B 

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