Just to add to what Rich wrote, There was a cookie cutter assault brigade/RCT design. Each was an all arms team that had trained together and practiced the landings according to as tactical template with tanks engineers and infantry tackling strong-points. The British had a slightly different assault loading. Each brigade included a squadron of C 20 armoured engineer AFVs at H Hour and 20 Centaur 95mm tanks/ SP guns. The US Army relied on dismounted engineers. The assaults were successful on all beaches.
Yes, they had a slightly different loading. Yes, the US Army relied on"dismounted engineers" to clear the beach obstacles below the water line. So did the British. The AVRE and Crab teams were to clear the beach obstacles above the water line and enable the exploitation off the beach. The Americans, without the AVRE and Crabs, intended to substitute tankdozers and "dismounted engineers" for that purpose. Yes, the assaults were successful on all beaches.