I agree that Newton did not express or contemplate about a number for G. His careful experimental verifications involved various data about Jupiter's moons, Saturn's moons, the Earth-Moon system and the planetary orbits around the sun. He did not need the exact values of the masses of the bodies (although he could estimate ratios of masses), nor did he need to know anything about G to get the theory proved.
What he did figure out is ...
1. Verification of the inverse square law and the proportionality to the product of the masses.
2. Proof that spherical masses acted as a point mass at the center
3. Identification that the law of gravitation was universal in that it applied to the Jovian system, the Saturnian system, the Earth-Moon system and the solar system.
4. Indication that these systems approximately behave as independent systems, but still there is interaction between them (e.g. the Sun effects the Earth-Moon's orbit or the interaction of Saturn and Jupiter).
5. Discovery of the equivalence of inertial mass and gravitational mass.
6. Estimation the ratio of masses relative to the sun for several planets and got Jupitor correct to less than 2% error (wow!)
7. Employment of linear superposition in his theory
8. Demonstration that the true center of the solar system is not the "earth" or "sun" but as a center of gravity near the sun.
Of course , he did a heck of a lot more than just these things. But, these are some of the things that helped identify the concept of G, even if he never dealt with its numerical value.