I am guessing you are not including the actions of the 21st Pz Div on 6th June?
Given they didn't show up until towards the end of the day? Yeah. Von Luck spent the entire day having to take the long route around after being blocked at Pegasus bridge. By the time the 21st was actually there, the Canadians were fully ensconced. Had the 21st been able to cross those bridges he could have been on the beaches within an hour of the troops landing, without an entire days worth of attrition form mechanical failures, airstrikes and naval artillery. A single division might not have been enough to actually defeat the Canadian landing, but it probably could have inflicted much heftier casualties and imposed significant delays.
Flipping open my copy of 'Salerno' by H Pond , I see the beaches used by the British X Corps were defended by the 15th PzG Div.
A single panzergrenadier division with the elements of a panzer division conducting delaying actions and reconnaissance-by-fire is not the same as a corps-plus level attack with the intent of driving the enemy into the sea. The first truly major such attack only came three days after the beginning and came within a hairsbreadth of collapsing the beachhead before they were beaten off.