I don't believe ASME code sections are going to provide much direction or recommendations on the details of groove designs. They may indicate specific joint details that are prohibited (Section VIII). The code sections may also reference ANSI/ASME B16.25 (as in the case of B31.1 and B31.3) that will provide some guidance. However, as is often pointed out, ASME code sections are not "handbooks" and they are not "design manuals".
I suggest refering to AWS literature such as the welding codes and recommended practices for guidance on the detailing of various grooves. What works for a bridge or building, relative to groove angles, root openings, etc., should also be applicable to pressure vessels provided the joint detail in question isn't specifically prohibited by the applicable ASME section (construction code). You will also have to give consideration to restrictions and limitations listed in each of the applicable ASME sections, e.g., the use of a backing rings may be prohibited in certain pressure piping systems, backing, when used, may have to be removed, etc.
Best regards - Al