Gimli is an unkeyed permutation, mapping a 384-bit input to a 384-bit output, $\{0,1\}^{384} \rightarrow \{0,1\}^{384}$. It is not a cipher by itself as you can reverse the output if you have it in its entirety, so it is not sufficient for security by itself. Instead, it is used to create a secure construction, e.g. using the sponge function. This function gets its security by keeping a portion of the permutation's output a secret, making it impossible to reverse without guessing the unknown (too large to brute force) portion of the output.
XooDoo appears to be another unkeyed permutation, with a slightly different design. There's very little we can say about its security right now, however, because it is relatively new. It often takes many years of analysis for the cryptographic community to feel comfortable about a new design. I will say, though, that it was made by reputable cryptographers, including one of the designers of Keccak-f, a heavily-analyzed and secure unkeyed permutation which is used in SHA-3, a NIST-endorsed hash function.
You can't compare an unkeyed permutation to a keyed permutation like AES because they have different purposes. Although you could build a regular block cipher out of it, that's not typically done. A keyed permutation like AES can be thought as a function which selects a permutation at random based on a key. Without knowing the key, you don't know the permutation and cannot reverse the output even if you have it in its entirety. And ChaCha is even harder to compare it with, as it is a stream cipher.
So, is a keyed permutation (block cipher) or an unkeyed permutation better? Typically, a block cipher has been considered a universal cryptographic primitive. Numerous constructions have been built around a block cipher to create things like hashes (for example, using the Davies–Meyer compression function). Recently, unkeyed permutations like Keccak-f and Gimli have gotten significant attention as potentially superior universal primitives because not only are they easier to analyze, but the sponge construction that they are useful to build can be easily adapted for a stream cipher, hash, or authentication function.
Simply put, block ciphers are older and more research has been done into utilizing them, but unkeyed permutations are more flexible and easier to analyze, and are starting to gain serious traction. XooDoo is a result of this trend towards unkeyed permutations. The Gimli paper mentions that there's no reason to doubt the "new conventional wisdom" that a permutation is a better unified primitive than a block cipher.