An LSTM-aided hybrid random access scheme (LSTMH-RA) is proposed to support diverse quality of service (QoS) requirements in 6G MTC heterogeneous networks where URLLC and mMTC devices coexist. This scheme employs an attention-based LSTM prediction model to predict the number of active URLLC devices, determines the parameters of the multi-user detection algorithm dynamically, and then allows URLLC devices to access the network via a two-step contention-free access procedure, to meet latency and reliability access requirements; mMTC devices access the network via a contentionbased TA-aided access mechanism to meet massive access requirement. We analyze the successful access probability of the LSTMH-RA scheme. Numerical results show that, compared to the benchmark schemes, the LSTMH-RA scheme significantly improves the successful access probability, and satisfies the diverse QoS requirements of URLLC and mMTC devices