Normandy D-Day beaches: is 1 day from Paris enough?

My dad is a huge WWII history buff and we’re doing a father-son trip to Paris next November. He really wants to see the D-Day beaches. I know it’s about 3 hours each way by car from Paris.

Is a day trip realistic or are we going to spend the whole time driving and only get 2 hours at the actual sites? Should we sleep in Bayeux for a night instead? And do we need a guided tour or can we drive ourselves between the beaches and museums? There seem to be a lot of scattered sites and I don’t want to miss the important ones because we didn’t have a guide to explain things.