kc,
The best D-Day private tour guides are pricey, but IMHO well worth the cost. If you'd prefer a more budget approach, you could take one of the full day group tours with Overlord Tour or one of the other firms.
If you'd rather have a private guide to tailor the sightseeing to your specific preferences, as few suggestions.....
As you'll have a car, you might contact Chris Emery as he's an exceptional guide and will be able to show you the sights you want with an efficient itinerary - http://www.visitdday.com/home.html .
As mentioned earlier, you could also contact Dale Booth, another exceptional guide - https://www.dboothnormandytours.com/ .
The Bayeux Museum is worth a visit, and while there you may also want to see the famous Bayeux Tapestry, which describes a much earlier battle.
Bayeux is the best home base location for touring that area (IMO). There are lots of good hotels and restaurants.