Since you'll have a car, I wouldn't bother with a tour. I've biked in that part of Normandy twice in the past 6 years. It's a pretty region. Bayeux itself is a lovely town. In addition to the Tapestry, the British WWII war cemetery at the edge of town is worth a quick visit.
There are lots of WWII-related museums in the region. The one in Bayeux is supposedly one of the best, though I didn't visit that one. I liked the museum by Pegasus Bridge (a few miles NE of Caen near the coast), the "Airborne" museum in Ste-Mere-Eglise, and the war museum at Utah Beach. Utah Beach is much less developed than the other 4 WWII landing beaches. It's also the westernmost, not too far from Ste-Mere-Eglise. The large American war cemetery is on a stunning bluff overlooking Omaha Beach, and it's quite close to Bayeux. It's a moving place. It also has a free museum you walk through before walking out into the gravesites. We visited one of the German cemeteries and it was interesting, too. Each country's war cemeteries have very different styles. There are at least 2 Canadian war cemeteries in Normandy, as well. We saw Juno Beach (the Canadian landing beach), but not the Canadian war cemeteries. Whereas the U.S. and Canada buried their war dead in large cemeteries, the British generally buried their fallen soldiers very close to where they died. The result is that there are a lot of small British war cemeteries throughout Normandy. A young British soldier we encountered in the cemetery in Ranville (near Pegasus Bridge) explained some of the things we couldn't figure out ourselves on the British gravestones.
For pretty towns (besides Bayeux), the coastal towns from Cabourg eastward to Deauville, Trouville, and Honfleur, are all very nice and have the distinctive ornate brick Normandy architecture. Deauville is quite upscale. There is a stunning village inland called Beuvron-en-Auge about 10 miles south of Cabourg, the prettiest village I've seen anywhere in Normandy.
I found that the small Top 10 Normandy book to be quite useful. Whatever your interests, the book will tell you where to find the best examples in Normandy.