Basically, make the child table’s system generated reverse reference column to show only if the (required ) fields in the parent form are not blank.
So in your case, the show_if of the reverse reference column can be something like
AND(
ISNOTBLANK([Cliente],
ISNOTBLANK([Almacen]),
ISNOTBALNK([Comentario])
ISNOTBLANK([Any other column(s) in the form you want to include])