Semi- mandatory plug; the best biography I know of him is General Sir David Fraser's Knight's Cross, which as you might expect from one senior officer to another goes in to great detail about his military life, how he thought as a soldier, what he thought, when and why, and how he developed.
Memetic Rommel misses a hell of a lot, including the fact that the legend he tried to build up was entirely deliberate and he seems to have thought of it as a weapon in it's own right, he was vain but tried to put his vanity to military use;
that he believed initially that all quartermasters were at least part squirrel, there was always more in the pipeline than they wanted to admit to, overcoming their inherent caution was part of his job, and it took a considerable amount of bitter experience to convince him otherwise;
that his background as what would probably now be special forces confirmed him in his conviction that a few good men were better than numbers, that armies were more crystalline than they liked to think and a good hard swing at a fragile point could cause results out of all proportion to the numbers involved;
that the infamous Plan Orient started as a morale trick to convince his lads that they weren't just stuck in a secondary theatre, and grew into a huge desert mirage;
that he wasn't innocent as much as he was hopelessly naive, a lot of his mental furniture still belonged to the Kaiser's army, soldiering was an honourable profession and the Heer he knew just, just wouldn't do that. If you asked him about the myth of the clean wehrmacht he would probably have believed it, up to Spring '44 at least.
Bundeswehr, most likely.