The $n$-volume of the fundamental parallelotope is the absolute value of the determinant of $G.$
The $n$-volume of the ball of radius $1$ is, in shorthand, $\pi^{n/2}/ (n/2)!,$ or $$ \omega_n = \frac{\pi^{n/2}}{\Gamma \left( 1 + \frac{ n}{2} \right)}. $$ The volume of the ball of radius $R$ is $\omega_n R^n. $
So, there is your estimate of the count, $\omega_n R^n / |G|.$