This keeps coming up and it is false. US Field manuals state the priority target for tanks is enemy armor. The desired outcome for the Armored Force is the role of exploitation force in the enemy rear area (ex Nancy Breakout) but on the offense the tanks are the primary anti-tank weapon. Tank Destroyers were to be the primary defensive antitank weapon when the main concern was massed German armored assaults. As it turned out there weren't many of those after Normandy so the TDs got parceled out in company and platoons for direct support.
For example, four Panther Brigades got annihilated by mostly 75mm Shermans (US 4th Armored, French 2nd) and a US infantry regiment. PzBrigade 112 lost 69 of 90 tanks, 350 dead, and 1,000 wounded. French losses were 5 M4 tanks, 2 M5 tanks, 2 halftracks, 2 Jeeps, and 44 killed, with a single P47 shot down. In three days of fighting against PzBr111 and 113, CCA 4th AD lost 14 M4 tanks, 7 M5 tanks, and 25 men killed. In return, they effectively shattered the 2 Panzer Brigades. PzBr106 drove headfirst into a regiment of infantry, by the end of the day, 106 PzBrigade was finished as a fighting unit, down to a quarter of its manpower, with 764 men captured. The Brigade had lost 21 Panthers and JgPzrs, 60 251s, and more then 100 support vehicles. Only 9 of the 47 original AFVs were operational at the end of the fighting. Total 3rd Army losses for all of September included 49 light tanks and 151 medium tanks and tank destroyers. However, they were issued 392 tanks during this period. The Germans committed 616 tanks and assault guns to the fighting in September; only 127 were operational at the end of the month. 101 PzIVs, 118 Panthers, and 221 assault guns were lost, with a further 148 awaiting repairs.
While the Panzers tried to use shock tactics that had been successful on the Eastern Front, the US ate the Germans lunch, burped, and moved on.