I'm sorry, but I see some issues here.
The biggest potential problem is that ferry from Jersey to St. Malo. Over the course of two different summer vacations (the last being August 2017), I've had 5 ferry tickets between France, the Channel Islands and England. 2 out of 5 of those ferries were canceled. Last year the ferry from Jersey to Guernsey/England was canceled for 3 days in a row. I had to scramble for a last-minute flight from Jersey to London-Luton; I was lucky on the flight cost, but I still had extra expenses to get to my planned destination, and you'd be looking at tickets for four people if it happened to you. The ferries are large ships. I don't know whether they are truly that sensitive to weather or something else causes the problems. Your entire trip will come crashing down if your ferry is canceled. Jersey is interesting, but the risk you are taking for a few hours there is way, way beyond what I would recommend.
If you do get stuck on Jersey, these are some things I enjoyed: Jersey Zoo (focuses on endangered species), Jersey War Tunnels (museum-like explanatory material); walking across the beach at low tide, picking up shells; Orchid Farm (small and rather costly but gorgeous); Samares Manor (garden); La Hogue Bie (prehistoric site).
I understand about the active teenager, but I cannot recommend just driving around the D-Day beaches. You'll probably have trouble with navigation and you won't really know what you are seeing (the beaches will look like...beaches); it will not be a very productive way to see that key historic area. I was pleased with my full-day Overlord Tour from Bayeux; I've also seen Dale Booth Tours recommended here. They are van tours, so not huge buses full of people. My driver/guide was good, and we weren't in the van terribly long between stops. At the stops there was considerable walking around, so if your outdoorsy son has some interest in the war, I think he will be fine. With four of you, you might find a private guide not much more expensive than a tour. My tour was about 100 euros last year. With four people to accommodate, it would be prudent to get that tour date nailed down well in advance of your arrival in Normandy.
I'm not sure you've got time to hit Mont-St-Michel (which I've never seen), St-Malo (intensely touristy) the D-Day sites and Honfleur, but with a car it might be workable. Honfleur is attractive but, again, very touristy. Except at the outdoor D-Day sites, you are going to be in tourist central everywhere you intend to go in Normandy--but you're experienced travelers, so I assume you understand the situation.
I would not plan a late-night flight back to Heathrow with an early-AM departure. If you are delayed, you'll be shopping for four last-minute one-way transatlantic tickets.
Last summer I scored a very reasonably priced room (single for less than 50 GBP) at the Premier Inn near Heathrow Terminal 4. The hotel looked quite new. There was a covered walkway from the terminal (perhaps 10 minutes)--not very well signposted. I don't know whether they have any rooms that will accommodate a family of four, but the P.I. might be affordable even if you needed to take two rooms.