Pic assist. It may just be the angle, but it appears that either your derailleur hanger or the derailleur itself is significantly tweaked. Notice how the derailleur cage hanging down points left towards the tire? It should be as close to perfectly vertical as possible. With something tweaked this badly, you'll never get the adjustment right, I'm afraid. That SRAM 5.0 derailleur should have plenty of range to shift an 8-speed cassette like that.