Lloyd Clark’s Blitzkrieg makes a very strong case that French tactical and strategic performance aside, it was the effort of German infantry, the Landsers, that was decisive in the Spring of 1940. The breakthroughs that allowed for the Panzer penetrations, particularly at Sedan were the result of infantry actions.
Not often noticed but Rommel was best known as an infantry commander. His book “Infantry Attacks” (German: Infanterie Greift An) is a classic of infantry tactics.