We propose an extension of the numerical approach for integrable Richardson-Gaudin models based on a new set of eigenvalue-based variables [A. Faribault et al., Phys. Rev. B 83, 235124 (2011); O. El Araby et al., Phys. Rev. B 85, 115130 (2012)]. Starting solely from the Gaudin algebra, the approach is generalized towards the full class of XXZ Richardson-Gaudin models. This allows for a fast and robust numerical determination of the spectral properties of these models, avoiding the singularities usually arising at the so-called singular points. We also provide different determinant expressions for the normalization of the Bethe ansatz states and form factors of local spin operators, opening up possibilities for the study of larger systems, both integrable and nonintegrable. These expressions can be written in terms of the new set of variables and generalize the results previously obtained for rational Richardson-Gaudin models [A. Faribault and D. Schuricht, J. Phys. A 45, 485202 (2012)] and Dicke-Jaynes-Cummings-Gaudin models [H. Tschirhart and A. Faribault, J. Phys. A 47, 405204 (2014)]. Remarkably, these results are independent of the explicit parametrization of the Gaudin algebra, exposing a universality in the properties of Richardson-Gaudin integrable systems deeply linked to the underlying algebraic structure.