Just handle voltage and gravity the same. Voltage is analogous to altitude: a height difference across a vertical field of Potentials. G-potentials (versus e-potentials.) In other words, the "voltage force" is the same thing as the electrostatic force ...which means that so-called "static electricity" drives the current in all circuitry. Whenever the voltage is non-zero, we have a static-electric force upon any electrons in the wires.
One way to understand this is: take a conceptual approach with an alternate mental toolbox, turning things backwards. That's where the Volt isn't defined as a Joule per Coulomb. Instead, we define the Joules of Potential Energy in terms of Volts and Coulombs.
In that case, the PE stored in the system is proportional to the transport of a small charge Q, being lifted across a potential-difference V. In other words, moving a small charged object against a potential-hill is the fundamental origin of electric potential energy. By already knowing the pre-existing voltage-pattern in space, we can calculate the PE of any moving test-charges. This is typically demonstrated by "charging" a parallel plate capacitor: by taking charges from one plate and forcing them against existing electrostatic repulsion, moving them to the other plate, which injects energy into the capacitor.
But but... what then does "voltage" mean? Why do we even need volts, when we already have joules of potential energy?
Voltage is a mathematical concept called "Potentials." It is not defined in terms of potential energy. Instead, it's the line-integral of the e-field flux. Instead, it is a way to describe e-fields, even if no test-charges are being moved, with no potential energy associated with test-charges. (Or more accurately, if we use infinitesimal test-charges, we can plot the volts appearing in space.) The e-field is a thing alone, and it still exists even when test-charges are all removed. Imagine an e-field hanging in empty space. That field has an energy/charge ratio, even when the test-charges are missing, so the PE is zero.
We can view e-fields as being made of thin fibers, "lines of force" or flux-lines. But we can also view e-fields as being made of equipotential planes, like stacked pages of a book. If flux is the group of imaginary lines in an e-field, what are Potentials? They're the imaginary stacked-layers in an e-field. Either approach is valid, and these voltage-membranes are just as "real" and important as lines of force. We habitually describe e-fields in terms of flux-lines because they're easy to draw on flat paper, while potential planes are difficult 3D objects. (Note that the flux lines are always perpendicular to the equipotential planes which they penetrate. E.g. flux lines around a charged particle are radial, while equipotential layers around the same particle will appear as nested spheres, like an onion.)
Or try the math approach, integration and differentiation, where the flux is the potential-gradiant, the differentiation of the voltage ...and the Potential is the line-integral of the flux. Integration of voltage gives us the flux of the field. Or in other words, flux is typically expressed in V/M, volts per meter. (So again, voltage is part of the e-field, not part of the potential energy of an artificially-injected test-charge.)
What is voltage? It's a stand-alone concept: "Potentials."
Michael Faraday and JC Maxwell made much of this mathematical concept, back when the rest of the physics community believed only in Distant Action theory. After all, fields didn't exist, and proper physicists only believed in Instant Action At A Distance. Faraday destroyed distant-action theory, and birthed the EM-fields concept, but was ignored during his lifetime. Maxwell put it on a firm mathematical foundation, and finally the fields could be considered as genuine physics-entities; strange objects hanging in empty space. The math concept of Potentials or "Voltage," is one approach to describing these entities.
In other words, voltage isn't a joule per coulomb. Instead, joules are volts times coulombs. Voltage instead is one face of the e-fields, when no real test-charges are present (where test-charges become infinitesimal.)
PS
Not convinced? If not, then ask yourself, can magnetic potential-fields exist in space, even when no test-poles are being moved around to create some PE? And, is there still some gravity in the space above the ground, even when no boulders are being lifted (are gravity potential-fields really made out of Joules per Boulder? What if there is no boulder? ) The potential-field still is there above the dirt, and the Volts are still hanging in empty space between the capacitor plates. Well, only true if we reject the Distant-Action beliefs of the pre-Maxwell physics community, and allow fields to have genuine existence.