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You don't say when you're going but keep in mind that the tour companies are apparently not huge operations. We're going to be in Normandy in ten days and contacted three of the most frequently mentioned companies more than a month ago. They were fairly well booked for the time we'll be there.

I agree with Surfmom. A high-quality tour is well worth it, even for a military buff. Book early.

See my trip report - my family loved Roel Klinkhamer and his tour - http://www.lignerolles.homestead.com/victorytours.html. He was very knowledgeable, and had something for everyone on the tour. What also made it so interesting was his own European take - he is Dutch, and is still grateful to the Americans for what they/we did. So, he knew and felt many things that, as an American, we did not know.
But, that said, if we had had more time, we would have done both a guided tour, and more on our own, going back to what we wanted to see in more depth.