We drove from Paris to Normandy and found a great B&B in Bocage country.
You did say the extent of your knowledge about the Normandy campaign. But I'm not certain you need the guided tour. I went without. Normandy is very welcoming of Americans and signage is good.
At the Military Cemetery is a fascinating museum and I'm not certain a tour bus will give you the time you might desire. We spent hours and my 19 year old daughter, no interest in WWII, was not hurrying me at all. That's how moved she was.
Omaha Beach itself is void of the anti-tank and other war relics. But from the Cemetery you can get a real appreciation of the valor those who stormed that beach.
Pont du Hoc is just a short drive away. Again, you may not want to be hurried.
At Arromanches you will see remnants of the Mulberrys.
St Lo and St Mare Eglise (sp) ... most was rebuilt after the total destruction wrought by Bradley's bombing campaign.
Still, a drive through Bocage country gives a self evident explanation of the difficulties faced by the Armies.
Bayeux ... you should see the tapestry. That itself is several hours.
Mont St Michel ... plan a day. Big regret is we didn't spend enough time. We didn't need a guide.
Shorter answer to your question ... it depends on how many days you stay in Paris.