Good luck and have lots of fun in your travels.
What you do/see will depend on how deep your pockets are and how much time you have. Playing tourist for one is easier than for 4.
I was in the Normandy area last year, but took a guided tour. WHen i go back to see the rest i will probably do the tour route again abnd fill-in with a car.
I just got back from Belgium and the Bastogne area. You WILL need a car there. There arent as many tour guides as their are in France. however, i did see that some are now crossing boarders with bigger tours lasting several days and into weeks. Now that i did the Bastogne tour, it became obviouse that 1 day isnt enought to do it justice as i found out in Normandy. So, if the WWII sites is one of the #1 objectives, i would plan on several days in each if possible. ALso, with Bastogne/beligum in the thick of it, you could spend waaaaay more time there due to the other wars/battlefields and such.
If you go to Normandy, you should try to see Mont St. Michel. In my opinion, it is soooo cool. Im sure there are alot of other things to do/see, but im only going by what i saw and would like to do again with more time.
I just barely touched down in Germany too. Saw what was left of the "Bridge at Remagen". Its a nice small museum and i enjoyed the side trip from my base in Cologne. There were other WWII sites near there, but didnt have enough time (nor did i plan to) see more.
You dont need to wait for any new book, but it wouldnt hurt. YOu can google alot of whats out there. A couple midwestern guys i met in Bastogne used a some book about "must see" museums and battle sites. They were following it.
dont know about the dog thing, but you could email the American Battle Monuments Commission (ABMC) about pets on the cemetary/monuments grounds. THey are the keepers of the monuments/cemetaries and they do a great and thankless job.