Dynamically Generate a List of headers and questions

Hi,

Tried to find something similar by search but didn't.

Been very stuck with this for a few days. I have to generate a list of questions with a heading based on user input. In the attached sheet the user would select yes/no in column B.

Column C generates a list of the ones with the yes answer and they would be the Category headings. Then in Column D to I would be the unique question identifiers. Column J generates a list of the all the question Identifiers that would be used.

I've tried playing with Offset, Row and just can't seem to get anything to display right. I've tried to get the category headings to insert into column J, but it just breaks things. Currently I've deleted all my attempts, and reverted Column J back to a list of question ID's only.

It would need to look like, with a space if possible after the Question ID part:

Flatbed
Questions Identifiers

Dry Van
Questions Identifiers

Reefer
Questions Identifiers

Any help would be really appreciated, and if possible need the solution with a formula versus using Visual Basic, our IT guys gets grumpy with sheets that are built with them.