This will be a recurring problem for the Germans throughout the war. The Panzers are very good at opening holes and dashing through them, but get exposed repeatedly because the foot infantry with their horse drawn artillery labor to catch up. In France it will lead to several “stop” orders to the Panzer units in the dash to the Channel and envelopment of Dunkirk.
In the USSR they will cut off entire groups of Soviet armies, but without enough infantry the cordon is too loose and many Soviet soldiers will infiltrate back to Soviet territory to fight again, or melt into the woods to become partisans.
Problem that showed up clearly in Russia was the combination of distance, poor road net and largely ‘leg’ infantry formations [with largely horse drawn transport] comprising the bulk of the German Infantry Divisions. What is truly amazing is not that they failed to close the cauldrons, but that they achieved the marches they did, at speed.