This might help you visualize $G$'s value and what its units mean in a physical sense.
Consider a system with a particle sitting in space at a unit distance from a unit mass - say a grain of dust that's a metre from a $1kg$ rock. Given: $$F = ma = G \frac{M m}{r^2} ~,$$ and with $M$ and $r$ both $1$, we can see that the particle's gravitational acceleration towards the rock, $a$, is numerically equal to $G$.
The units work too, because (cancelling out the particle mass $m$ and inserting units): $$a (ms^{-2}) = G (m^3kg^{-1}s^{-2}) \frac{1(kg)}{1^2 (m^2)}$$
So that's interesting: the particle at that moment is accelerating towards the rock at $6.67 \times 10^{-11}ms^{-2}$, and in any system of units, $a = G$, numerically.
Now, imagine the particle is orbiting the rock, and maintaining a unit distance orbital radius. What is its angular velocity? Using $a = \omega^2r$ (and keeping $r$ as one metre), we see $\omega^2 = G$, numerically.
That means that $\omega = \sqrt G$. For metric units, our particle moves about $8\mu rad/s$, or $122,000s$ per radian, and that's an orbit every 9 days.
Angular velocity has units of angles (let's stick with radians) per unit time, $\theta/s$, but angles are a unit-less ratio of $arclength/radius$, so we'd usually see $\omega$ with units of just $s^{-1}$.
We've been imagining the central mass as a rock, but it could be any co-centric sphere (up to the radius of the orbit) as long as the mass seen at the centre-of-mass was unchanged, ie we're keeping the mean density of the space inside the orbit constant. Suppose it's a $1kg$ sphere of a low-density material that's exactly one metre radius, so the particle's orbit now cruises just over the surface. And suppose we make that the defining characteristic of the orbit: it's not a $1$ metre orbit, but an orbit that's cruising the surface of a unit-radius, unit-mass sphere.
This means we've boiled gravity down to two components: for a given value of $G$ in some system of units, we relate the density of the sphere (a ratio of mass and distance$^3$), and the $\omega^2$ (that's $1/$time$^2$) of the particle that orbits just above its surface.
If in a different universe, where $G$ is bigger, then you can keep the same sphere and the particle will need to go faster, or you can reduce the density (lower the mass or increase the volume) of the sphere, and keep the same speed. So $G$ tells you, for a given universe, the ratio of $\omega^2$ to the sphere's density, in units of your choosing.
In other words, $G$ has units of $\frac{\omega^2}{mass/volume}$, which is $ 1/time^2 \times \frac{volume}{mass}$.
In metric, we call it $m^3kg^{-1}s^{-2}$. Once you have the particle orbiting that sphere in your visual register, and you imagine flexing the sphere's mass or volume, or making gravity stronger or weaker, and seeing what the particle has to do to keep orbiting, you'll see that $G$ has to have those units. It's in the nature of the structure.