The question you're asking is very wide-reaching and not specific enough in what you mean by "advanced", I think.

• Advanced in what aspect(s), and as compared to what?

• Where? you're asking about an entire continent, filled with cultures, civilizations, languages, religions etc.. that are very different from each other, the Kongo kingdom from Central Africa was not the same as the Ethiopian Empire near the horn of africa, which was also different from the Ajuuran Sultanate further south, or the Ashanti Empire or Mali Empires in West Africa, which is also of course different from Ancient Egypt.

• When? you're talking about almost 4,000 years of history here, do you mean the ancient world? the middle ages? the reinassence era?

If you're interested in an overview, the FAQ has a very good section on Africa in general: https://www.reddit.com/r/AskHistorians/wiki/faq#wiki_africa

And I think this answer by /u/BarbarianKing deals with the spirit of your question: https://www.reddit.com/r/AskHistorians/comments/11k5f4/why_did_all_of_the_other_continents_develop_so/

I'd personally recommend you keep your eyes open for anything responded by Commustar who is in my experience a very good africanist contributor.