This answer is intended to address Nick Kidman's reformulation of the question:
is there a measure of the amount of gravity in spacetime (maybe the
action is a valid one)? And how do the expansion equations
(Friedmann?) depend on this real parameter.
The way that cosmologists answer this is in terms of the energy density of the universe. This energy can come from radiation, matter, a cosmological constant, or any other form of dark energy if it exists.
The rest of the answer is very similar to the discussion found in textbooks such as Ryden. For simplicity, we'll consider the imaginary case where the energy density of the universe is dominated entirely by matter - that is, we'll ignore radiation energy and dark energy. This will allow us to discuss how expansion of the universe depends on a single parameter, the energy density of the matter (I'll just call it 'matter density' from now on). Including the other energies will complicate the picture but not change the fundamental nature of the answer.
The Friedmann equations are second order in time. We'll choose our two integration constants based on the size and rate of expansion we observe now in today's universe (even though today's expansion is dominated by dark energy, this is just a choice of numbers to set a convenient point of reference). Then, we can vary the matter density and solve the Friedmann equations to see how the early and late phases of the universe's expansion would change.
Here is a graph showing three possible scenarios:

Let's focus on the middle one first. Here, the expansion rate $\dot{a}$ approaches zero asymptotically for $t \rightarrow \infty$. The magnitude of the density in today's universe corresponding to this type of expansion is called the critical density, and we can use it to define a dimensionless measure of density called the density parameter $\Omega$. The middle curve corresponds to $\Omega = 1$.
The lower curve in the plot corresponds to $\Omega > 1$. Here the expansion eventually reverses iteself into a big crunch.
The upper curve corresponds to $\Omega < 1$. In this case the expansion continues to accelerate at late times, leading to a 'big freeze' or 'big rip'.
Closed form analytical solutions to the Friedmann equations in a matter-only universe with arbitrary $\Omega$, such as those used to generate the graph, can be found in many cosmology textbooks including the one I linked to above.
There are other important things that change with $\Omega$, such as the topology and curvature of the universe.
Now for some fine print: In our universe, we actually measure $\Omega$ to be close to 1, meaning that the topology and curvature of the universe appear to match what we expect for $\Omega = 1$. But we also think that the universe will continue to expand in an accelerated matter. This is because of the presence of dark energy, which modifies the the solutions to the Friedmann equations.