Welcome back to the Wefugees Community and thank you for reaching out to us.
I tried to give a comprehensive list of the requirements for the residence permit according to section 25b here.
One of the conditions is that you are holding a "Duldung" (or at least the right for a "Duldung") at the time of the application for the residence permit. As far as I know, you can not apply as long as your asylum application is still pending. In case you receive a negative answer from the BAMF, the 25b (or maybe the 25a if you are younger than 27 years) can be an option. I think it would be helpful to make a German language test in the meantime in order to be able to prove your German skills.
Are you in contact with a lawyer or a refugee counselling office? Being in Germany for almost 6 years without having any decision by the BAMF sounds a bit unusual to me. Maybe it makes sense to talk about your individual situation with an expert.
In any case, please also don't hesitate to get back to us with any further questions.
All the best,