The $2.n.m$ Diophantine equations have well-known complete solutions (a.k.a. parameterizations) for all $n,m \ge 1$ (for example, see Bradley's paper or Barnett's paper).
In particular, the solutions for the $2.1.2$ and $2.1.3$ equations you are asking about have been known for centuries. If $q$ is odd (which is essentially equivalent to “all primitive integer solutions”), you’re looking for
\begin{align}
k &= r^2+s^2 \\
c &= 2rs \\
q &= r^2-s^2
\end{align}
where
$$q = t^2+u^2+v^2+z^2$$
and either
$$c = t^2+u^2-v^2-z^2 \tag{$\star$}$$
or
$$c = 2(tz-uv)\tag{$\star\star$}$$
With respect to $q$, you are are ultimately finding $r,s,t,u,v,z$ such that
\begin{align}
r^2 &= s^2+t^2+u^2+v^2+z^2;
\end{align}
this is the $2.1.5$ Diophantine equation, for which the complete solution (a.k.a. parameterization) is known. You then simply need to intersect that result with the solutions for ($\star$) and ($\star\star$) to obtain the complete solution to your original system of equations.