I suggest reassessing your schedule. As another responder mentioned, you have a lot to see and a half-day tour isn't going to cut it for you.
Maybe take a day away from Paris, if possible, to spend a night in Bayeux so you are able to take a full day tour.
I took Overlord "Band of Brothers" tour which was A LOT of stops in one day and some were not long enough (American Cemetery was just 45 minutes).
They picked us up at 8am. If that's still the time, you can't get there in time travelling from Paris on the same day.
It was a wonderful tour. The guide even asked as we embarked if anybody had pressing plans for the evening. Nobody did so the tour went long with a couple extra stops and lingering in places that might have otherwise been rushed.
I took an afternoon train the day before my tour was scheduled and morning train back to Paris the day after (followed by a trip across Paris to catch Eurostar back to London... A LOT of train travel in one day)