The problem of uplink transmissions in massive connectivity is commonly dealt with using schemes for grant-free random access. When a large number of devices transmit almost synchronously, the receiver may not be able to resolve the collision. This could be addressed by assigning dedicated pilots to each user, leading to a contention-free random access (CFRA), which suffers from low scalability and efficiency. This paper explores contention-based random access (CBRA) schemes for asynchronous access in massive multiple-input multiple-output (MIMO) systems. The symmetry across the accessing users with the same pilots is broken by leveraging the delay information inherent to asynchronous systems and the angle information from massive MIMO to enhance activity detection (AD) and channel estimation (CE). The problem is formulated as a sparse recovery in the delay-angle domain. The challenge is that the recovery signal exhibits both row-sparse and cluster-sparse structure, with unknown cluster sizes and locations. We address this by a cluster-extended sparse Bayesian learning (CE-SBL) algorithm that introduces a new weighted prior to capture the signal structure and extends the expectation maximization (EM) algorithm for hyperparameter estimation. Simulation results demonstrate the superiority of the proposed method in joint AD and CE.