1. The first question, namely, the physical meaning of RabcdRabcd was correctly pointed out in the other answer here, it appears in Gauss-Bonnet gravity.
2. But I cannot agree that gravity is not a gauge theory. Actually, there exists many approaches to GR as a gauge theory of the gravitational field. It started already with Utiyama in 1956, and then followed a crowd of people trying to formulate GR as a gauge theory, like Trautman, Kibble, Sciama, Feynman, Weinberg and Thirring. A complete list of references can be found here: https://arxiv.org/pdf/1210.3775v2.pdf
3. One cannot confuses a gauge theory as being necessarily a Yang-Mills theory. A Lagrangian of the form L=12tr(Dω∧⋆Dω) is typical of a Yang-Mills theory, but a gauge theory is a much more general framework. Y-M is a kind of gauge theory. To be a gauge theory, what one needs is a p-bundle where the potential ω of the theory is a 1-form that takes its values on the p-bundle's Lie group, the field strength is the exterior covariant derivative Ω=Dω of that 1-form, namely, the associated curvature 2-form, and the Lagrangian of the theory being any combination of ω, Ω, ∧ and ⋆, i.e., a 4-form L=L(ω,Dω)∈⋀4M, it is necessarily going to be gauge invariant, since nowhere we have introduced a local trivialization!
So how can we describe Einstein's GR in terms of a gauge theory? We choose our base manifold as spacetime M, as gauge group the group of general linear transformations GL(4,R), acting on the frame bundle of M. The p-bundle of GR is therefore the bundle of frames F(M) (the construction of the frame bundle and the action of GL is performed in all standard references, e.g., Choquet-Bruhat or Nakahara). Let (ea)∈⋀1M be a tetrad in the spacetime (an orthonormal coframe), and Rμν be the curvature 2-form. Substituting Cartan's structure equation Rμν=dωμν+ω.αμ∧ωαν in the Einstein-Hilbert Lagrangian L=12R⋆1, one shows (take this as an execise!) that the action of GR can be written like S=∫Rab∧⋆(ea∧eb). This is just the gauge theoretical reformulation of GR as the gauge theory with group GL.
I recommend you to give a look in
http://www.iaea.org/inis/collection/NCLCollectionStore/_Public/12/619/12619799.pdf
https://www.amazon.com/Differential-Geometry-Cambridge-Monographs-Mathematical/dp/0521378214
https://www.amazon.com/Gauge-Theory-Variational-Principles-Physics/dp/0486445461/ref=pd_sbs_14_t_0?_encoding=UTF8&psc=1&refRID=5MP7Z8NM2TMZMTYK6GRE
https://arxiv.org/pdf/1204.3672v2.pdf