We present a search for radio afterglows from long gamma-ray bursts using the Australian Square Kilometre Array Pathfinder (ASKAP). Our search used the Rapid ASKAP Continuum Survey, covering the entire celestial sphere south of declination $+41^circ$, and three epochs of the Variables and Slow Transients Pilot Survey (Phase 1), covering $sim 5,000$ square degrees per epoch. The observations we used from these surveys spanned a nine-month period from 2019 April 21 to 2020 January 11. We crossmatched radio sources found in these surveys with 779 well-localised (to $leq 15$) long gamma-ray bursts occurring after 2004 and determined whether the associations were more likely afterglow- or host-related through the analysis of optical images. In our search, we detected one radio afterglow candidate associated with GRB 171205A, a local low-luminosity gamma-ray burst with a supernova counterpart SN 2017iuk, in an ASKAP observation 511 days post-burst. We confirmed this detection with further observations of the radio afterglow using the Australia Telescope Compact Array at 859 days and 884 days post-burst. Combining this data with archival data from early-time radio observations, we showed the evolution of the radio spectral energy distribution alone could reveal clear signatures of a wind-like circumburst medium for the burst. Finally, we derived semi-analytical estimates for the microphysical shock parameters of the burst: electron power-law index $p = 2.84$, normalised wind-density parameter $A_* = 3$, fractional energy in electrons $epsilon_{e} = 0.3$, and fractional energy in magnetic fields $epsilon_{B} = 0.0002$.
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