What God wants is so simple that it takes a theologian to mess it up. God wants you! More spefically, God wants a family. And He wants you to be part of it. You will need more context to fully appreciate this. But that's the bottom line of the entire Bible.
If you want to explore this more fully, here is the script of a short audiobook by Michael S. Heiser. On one hand, he is a brilliant Bible scholar. But on the other hand, he has the gift of making things easy to understand using plain language. Bon appetit!