None of the music from the Yoko Taro games has any lyrics in the traditional sense except for the Ending Credits songs. The "lyrics" you are hearing is a conglang (constructed language) created by Emi Evans, one of the main vocalists for the songs. It's often called Chaos Language and has no meaning whatsoever. Instead, it suggests feelings, emotions and ambiance in the music tracks. It also neatly gets around the problem of having to make different lyrics for the Japanese and English versions and cuts out translating between the two.

The music in NieR: Automana that does have lyrics is Weight of the World, the song that plays in the credits. The English lyrics are written from 2B's perspective, while the Japanese lyrics are written from 9S's perspective. There's also a third version of Weight of the World called the "Nouvaeu-FR" version that is the entire song in Chaos Language. And a fourth version of it that has all three languages in it...

Weight of the World English (2B)
I feel like I'm losing hope
In my body and my soul
And the sky, it looks so ominous

And as time comes to a halt,
Silence starts to overflow
My cries are inconspicuous

Tell me, God, are you punishing me?
Is this the price I'm paying for my past mistakes?

This is my redemption song
I need you more than ever right now
Can you hear me now?

'Cause we're going to shout it out
Even if our words seem meaningless
It's like I'm carrying the weight of the world

I wish that someday, somehow,
That I could save every one of us,
But the truth is that I'm only one girl...

Maybe if I keep believing, my dreams will come to life...
Come to life...

After all the laughter fades,
Signs of all life washed away
I can still, still feel a gentle breeze

No matter how hard I pray,
Signs of warning still remain
And life has become my enemy...

Tell me, God, are you punishing me?
Is this the price I'm paying for my past mistakes?

This is my redemption song
I need you more than ever right now
Can you hear me now?

'Cause we're going to shout it out
Even if our words seem meaningless
It's like I'm carrying the weight of the world

I wish that someday, somehow,
That I could save every one of us,
But the truth is that I'm only one girl...

Maybe if I keep believing, my dreams will come to life...
Come to life...

'Cause we're going to shout it out
Even if our words seem meaningless
It's like I'm carrying the weight of the world

I wish that someday, somehow,
That I could save every one of us,
But the truth is that I'm only one girl...

Still, we're going to shout it out
Even if our words seem meaningless
It's like I'm carrying the weight of the world

I wish that someday, somehow,
That I could save every one of us,
But the truth is that I'm only one girl...

Maybe if I keep believing, my dreams will come to life...
Come to life...
Weight of the World Japanese (9S)
English translation
My salvation fades away
My body froze in place
Even now, the sky is still so dark

The stopped clocks
The unsounding machines
That my voice could not reach

This is my curse, the depth of the sins I committed
Was your wish, but for embracing this impure soul, I will redeem

And so we right now
Ah, even though it's worthless, I still cry out
The song of that broken world

And so we right now
Ah, even though it's meaningless, I still wish
Just for a future together with you

May your smile on that day...
Lovingly disappear...

The overflowing greenery
And the spilling life
Even now, the wind is still so far away

The peeling rust
And the twisting blade
There in the forest where death lurks

This is my curse, the pain of killing a promise
Was your wish, but for throwing away my very last dream, I will atone

And so we right now
Ah, even though it's worthless, I still cry out
The love of this corrupted world

And so we right now
Ah, even though it's meaningless, I still wish
Just for more time together with you

May your drowned consciousness...
Gently disappear...

And so we right now
Ah, even though it's worthless, I still cry out
The song of that broken world

And so we right now
Ah, even though it's meaningless, I still wish
Just fr a future together with you

And so we right now
Ah, even though it's worthless, I still cry out
The love of this corrupted world

And so we right now
Ah, even though it's meaningless, I still wish
For more time together with you

Even if my prayers will not grant me forgiveness,
I...