The comma and semicolon are both used to show or create pause points in sentences.
Therefore, they can often be interchangeable and still conform to what is generally considered acceptable.
However, the meaning will generally be changed, even if it is a subtle change. In general, semicolons create a stronger pause.
If two parts of a sentence are independent, it is often more conventional to join them with a semicolon, if we want to join them:
She hesitated to tell him the bad news; he was going to be devastated.
In that example, a writer may want to join the two parts of the sentence because they are so closely related, or because a writer wants to create or emphasize a close relationship. The semicolon can do that, but a comma would create confusion, or be considered a comma splice error.
Commas are also used to join independent clauses, but this works better for some sentences than for others.
We acceptably use commas especially when both clauses are short, and/or when both clauses are concordant in some way:
I entered, she left.
I came, I saw, I conquered.
In many cases, joining independent clauses doesn't work so well, and may be considered unacceptable. Your sentence, for example, links a complex sentence with an independent clause with a comma (between any way and the comma) that most people, I believe, would say is incorrect or nonstandard.
In some of my sentences, above, we couldn't felicitously replace some of the commas with semicolons:
*Therefore; they can often be interchangeable and still conform to what is generally considered acceptable.
There's no reason to use the strong pause indicator after therefore in that sentence. Doing so would generally be seen as odd at best, and more likely as "incorrect" or nonstandard in most contexts.
Also, we can't replace semicolons with commas in cases where multiple pause markers are used and we need the semicolon's strength to mark boundaries between elements:
He inherited a lot of money from his parents when he was young; consequently, he never had to work.
She loved baked goods, like cakes, breads, and bagels; fried things, like fish and chips; jams, jellies, and preserves; and pasta.
In the above, the semicolon is needed to create such separations or groupings.