You, me and everyone not a physicist using the equations everyday want this, I do not know how many times I have been corrected on this forum because my visualisation of phenomena after reading a pop science book is off. I think the only answer is to study the physics and I really wish I had the time to do that.
Here is how I picture it and I’d wait until all my misconceptions are corrected, which could very well be all of it, before believing a word of it.
To picture what 4D is to 3D just pop down a dimension and consider what 3D is to someone living in 2D. Us 3D creatures can see many 2D ‘worlds’ at one time, that is we can see depth that, to the 2D denizens, does not exist and is, indeed, nonsensical. So picture lots of 2D ‘worlds’ all stacked on top of each other as panes (or areas of space), for 2D creatures they only can experience one but for us we see and can experience many.
Now move this up to 4D; 4D creatures must be able to experience\see many layers of 3D solids (volumes) all at one time, like we 3D creatures can experience many 2D planes. So what you may say, we can see many solids at one time what are you on about? Well the ‘depth’ one could see in 4D is time not a distance, that is one could see many volumes of space all stacked on each other and each one was a slice of time. Us 3D creatures can only see/experience one slice of a time at a, erm, time but for 4D creatures they can see many.
As to the shape of this 4D space we can only draw projections of it onto 3D, like a 2D creature could see a shadow of a 3D object.