I am not a UUID expert but to me, ascii85 already seems a very dense format, due to the large number of characters used for encoding.
To get an even shorter ID, I would try one of the following approaches.
Use binary compression. This is suitable if the ID does not need to be printable.
Use another Unique ID format. UUIDs are meant to be globally unique. That is, it should be very unlikely that the same UUID is generated twice anywhere in the world. If you are ok with a unique ID that is unique only within your database or server cluster or company etc, there are other algorithms available besides UUID that generate shorter unique IDs.