Hybrid superconductor-semiconducting nanowire devices provide an ideal platform to investigating interesting intragap bound states, such as the Andreev bound states (ABSs), Yu-Shiba-Rusinov (YSR) states, and the Majorana bound states. The competition between Kondo correlations and superconductivity in Josephson quantum dot (QD) devices results in two different ground states and the occurrence of a 0-π quantum phase transition. Here we report on transport measurements on hybrid superconductor-InSb nanowire QD devices with different device geometries. We demonstrate a realization of continuous gate-tunable ABSs with both 0-type levels and π-type levels. This allow us to manipulate the transition between the 0 and π junction and explore charge transport and spectrum in the vicinity of the quantum phase transition regime. Furthermore, we find a coexistence of 0-type ABS and π-type ABS in the same charge state. By measuring temperature and magnetic field evolution of the ABSs, the different natures of the two sets of ABSs are verified, being consistent with the scenario of phase transition between the singlet and doublet ground state. Our study provides insight into Andreev transport properties of hybrid superconductor-QD devices and sheds light on the crossover behavior of the subgap spectrum in the vicinity of the 0-π transition. ; This work was financially supported by the National Key Research and Development Project of the Ministry of Science and Technology of China (Grant No. 2016YFA0300601), National Basic Research Program of China (Grants No. 2012CB932703 and No. 2012CB932700), and by the National Natural Science Foundation of China (Grants No. 11374019, No. 91221202, No. 91421303, and No. 61321001). H.Q.X. acknowledges also financial support from the Swedish Research Council (VR).